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shake it.", + "Grab the handheld green bottle with the left arm and shake.", + "Grab and shake the medium green bottle using the left arm.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Pick up the green bottle with indented base and shake it.", + "Shake the plastic bottle firmly after grabbing.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Lift the medium green bottle with the left arm and shake.", + "Grab the smooth green plastic bottle and give it a shake.", + "Take the smooth green bottle using the left arm and give it a shake.", + "Use the left arm to pick and shake the medium green bottle.", + "Secure the plastic bottle, shake it, and place it down.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Use the left arm to hold the medium green bottle with capped neck and shake it.", + "Pick the smooth green plastic bottle up with the left arm and shake.", + "Pick the medium green bottle, shake it with the left arm.", + "With the left arm, pick the handheld green bottle and shake properly.", + "Grab the smooth green bottle and move it to shake.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Lift up the medium-sized green bottle using the left arm, then shake.", + "Pick the medium green bottle and perform shaking motion.", + "Using the left arm, shake the medium green bottle with capped neck and then place it back.", + "Secure the smooth green plastic bottle and perform a shake.", + "Utilize the left arm to hold the bottle with rounded neck and shake it.", + "Use the left arm to lift and shake the handheld green bottle.", + "Shake the green bottle with indented base after holding it firmly.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Shake the bottle with rounded neck after grabbing it.", + "Grip the green bottle with indented base using the left arm and shake.", + "Grab the bottle with rounded neck and shake it steadily.", + "Shake the bottle with narrow top after grabbing it.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Shake the medium-sized green bottle after grabbing it.", + "Lift the bottle with ridges near base with the left arm and give it a shake.", + "Use the left arm to grab the bottle with ridges near base and shake it.", + "Shake the green bottle with indented base after lifting it.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Hold the plastic bottle, shake it briefly.", + "Grasp the bottle with ridges near base with the left arm and shake it.", + "Catch the smooth green bottle and shake it instantly.", + "Grab the medium green bottle carefully and shake.", + "Hold and shake the the bottle with rounded neck carefully.", + "Use the left arm to grab the bottle with white printed label and shake properly.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Hold the green bottle with indented base and shake it properly.", + "Hold the medium green bottle with capped neck with the left arm and shake lightly.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Shake the bottle with ridges near base using the left arm after grabbing.", + "Pick the green bottle with indented base up using the left arm and shake it.", + "Grab the medium green bottle with capped neck with the left arm and shake.", + "Grab and shake the smooth green plastic bottle using the left arm.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Pick up the bottle with white printed label and shake it.", + "Shake the medium green bottle firmly after grabbing.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Lift the plastic bottle with the left arm and shake.", + "Grab the plastic bottle and give it a shake.", + "Take the handheld green bottle using the left arm and give it a shake.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Use the left arm to lift and shake the handheld green bottle.", + "Use the left arm to hold the bottle with rounded neck and shake it.", + "Pick the plastic bottle up with the left arm and shake.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "With the left arm, pick the medium-sized green bottle and shake properly.", + "Grab the bottle with rounded neck and move it to shake.", + "Pick up the medium green bottle and shake it well.", + "Lift up the medium-sized green bottle using the left arm, then shake.", + "Pick the plastic bottle and perform shaking motion.", + "Using the left arm, shake the medium green bottle and then place it back.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Utilize the left arm to hold the bottle with ridges near base and shake it.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Shake the bottle with rounded neck after holding it firmly.", + "Lift the medium-sized green bottle and shake it gently.", + "Shake the smooth green bottle after grabbing it.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "Grab the medium green bottle and shake it steadily.", + "Shake the smooth green bottle after grabbing it.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Shake the plastic bottle after grabbing it.", + "Lift the smooth green plastic bottle with the left arm and give it a shake.", + "Use the left arm to grab the plastic bottle and shake it.", + "Shake the green bottle with indented base after lifting it.", + "Lift the smooth green bottle with the left arm and shake it.", + "Hold the green bottle with indented base, shake it briefly.", + "Grasp the smooth green bottle with the left arm and shake it.", + "Catch the bottle with rounded neck and shake it instantly.", + "Grab the handheld green bottle carefully and shake.", + "Hold and shake the the bottle with narrow top carefully.", + "Use the left arm to grab the bottle with rounded neck and shake properly." + ], + "unseen": [ + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode1.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..2b2df9997865cf07a6c55d884c560f3ac956ae51 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the left arm, shake the bottle with rounded neck and then place it back.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Grab the plastic bottle with the left arm and shake.", + "Lift the handheld green bottle and shake it gently.", + "Catch the green bottle with indented base and shake it instantly.", + "Secure the bottle with white printed label and perform a shake.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Grab the bottle with white printed label and give it a shake.", + "Grab the medium-sized green bottle carefully and shake.", + "Lift up the bottle with rounded neck using the left arm, then shake.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Hold and shake the the bottle with rounded neck carefully.", + "Grip the medium green bottle using the left arm and shake.", + "Use the left arm to hold the bottle with narrow top and shake it.", + "Lift the smooth green bottle with the left arm and give it a shake.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Utilize the left arm to hold the bottle with narrow top and shake it.", + "Pick up the plastic bottle and shake it well.", + "Pick up the medium-sized green bottle and shake it.", + "Shake the the handheld green bottle properly after lifting.", + "Take the bottle with white printed label using the left arm and give it a shake.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Shake the medium green bottle after lifting it.", + "Grab the plastic bottle and move it to shake.", + "Pick the bottle with white printed label and perform shaking motion.", + "Shake the smooth green plastic bottle after grabbing it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Hold the bottle with narrow top with the left arm and shake lightly.", + "Grab the smooth green plastic bottle using the left arm, then shake.", + "Pick the bottle with white printed label up using the left arm and shake it.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Grab and shake the bottle with rounded neck using the left arm.", + "Grasp the bottle with ridges near base with the left arm and shake it.", + "Use the left arm to grab the bottle with narrow top and shake it.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Hold the green bottle with indented base and shake it properly.", + "Shake the plastic bottle after holding it firmly.", + "Pick the bottle with ridges near base, shake it with the left arm.", + "Shake the bottle with white printed label using the left arm after grabbing.", + "Hold the handheld green bottle steady, then shake it.", + "With the left arm, pick the handheld green bottle and shake properly.", + "Lift the bottle with narrow top with the left arm and shake.", + "Shake the handheld green bottle after grabbing it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Grab the green bottle with indented base and shake it steadily.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Pick the bottle with rounded neck up with the left arm and shake.", + "Use the left arm to grab the handheld green bottle and shake properly.", + "Using the left arm, shake the bottle with white printed label and then place it back.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Grab the bottle with rounded neck with the left arm and shake.", + "Lift the medium-sized green bottle and shake it gently.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Secure the handheld green bottle and perform a shake.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Grab the medium green bottle and give it a shake.", + "Grab the medium green bottle carefully and shake.", + "Lift up the green bottle with indented base using the left arm, then shake.", + "Secure the medium green bottle, shake it, and place it down.", + "Hold and shake the the bottle with white printed label carefully.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "Use the left arm to hold the medium-sized green bottle and shake it.", + "Lift the bottle with ridges near base with the left arm and give it a shake.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Utilize the left arm to hold the smooth green bottle and shake it.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Take the smooth green bottle using the left arm and give it a shake.", + "Lift the handheld green bottle and shake it thoroughly.", + "Shake the smooth green bottle after lifting it.", + "Grab the smooth green plastic bottle and move it to shake.", + "Pick the green bottle with indented base and perform shaking motion.", + "Shake the smooth green plastic bottle after grabbing it.", + "Shake the bottle with ridges near base after grabbing it.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Pick the medium green bottle with capped neck up using the left arm and shake it.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Grab and shake the smooth green bottle using the left arm.", + "Grasp the handheld green bottle with the left arm and shake it.", + "Use the left arm to grab the bottle with narrow top and shake it.", + "Hold the bottle with narrow top, shake it briefly.", + "Hold the smooth green bottle and shake it properly.", + "Shake the bottle with white printed label after holding it firmly.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Shake the bottle with white printed label using the left arm after grabbing.", + "Hold the bottle with white printed label steady, then shake it.", + "With the left arm, pick the medium green bottle and shake properly.", + "Lift the plastic bottle with the left arm and shake.", + "Shake the medium green bottle after grabbing it.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Grab the plastic bottle and shake it steadily.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Pick the bottle with white printed label up with the left arm and shake.", + "Use the left arm to grab the medium-sized green bottle and shake properly." + ], + "unseen": [ + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode10.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..a892de4e30dbeb546f792494c0ac2f68e91d99ba --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the bottle with rounded neck with the left arm and give it a shake.", + "Use the left arm to grab the medium-sized green bottle and shake properly.", + "Lift the bottle with narrow top with the left arm and shake.", + "Use the left arm to grab the bottle with white printed label and shake it.", + "Pick up the handheld green bottle and shake it.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Lift up the smooth green bottle using the left arm, then shake.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Pick the bottle with ridges near base, shake it with the left arm.", + "Hold the bottle with ridges near base steady, then shake it.", + "Using the left arm, shake the bottle with ridges near base and then place it back.", + "Grab the green bottle with indented base and shake it steadily.", + "Pick the smooth green bottle up with the left arm and shake.", + "With the left arm, pick the bottle with white printed label and shake properly.", + "Shake the bottle with ridges near base after grabbing it.", + "Shake the medium green bottle with capped neck after lifting it.", + "Grasp the smooth green plastic bottle with the left arm and shake it.", + "Use the left arm to pick and shake the bottle with narrow top.", + "Grab the medium-sized green bottle and give it a shake.", + "Pick the smooth green bottle and perform shaking motion.", + "Catch the bottle with ridges near base and shake it instantly.", + "Secure the smooth green plastic bottle and perform a shake.", + "Take the plastic bottle using the left arm and give it a shake.", + "Use the left arm to hold the smooth green plastic bottle and shake it.", + "Grab and shake the medium green bottle using the left arm.", + "Lift the handheld green bottle with the left arm and shake it.", + "Hold the bottle with ridges near base, shake it briefly.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Grab the smooth green plastic bottle with the left arm and shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Hold the bottle with white printed label and shake it properly.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the bottle with white printed label using the left arm, then shake.", + "Pick the bottle with rounded neck up using the left arm and shake it.", + "Grab the bottle with narrow top and move it to shake.", + "Utilize the left arm to hold the bottle with rounded neck and shake it.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Lift the smooth green bottle and shake it gently.", + "Shake the the bottle with rounded neck properly after lifting.", + "Shake the smooth green bottle after holding it firmly.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Shake the smooth green plastic bottle using the left arm after grabbing.", + "Grip the handheld green bottle using the left arm and shake.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Pick up the green bottle with indented base and shake it well.", + "Lift the smooth green plastic bottle with the left arm and give it a shake.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Lift the green bottle with indented base with the left arm and shake.", + "Use the left arm to grab the handheld green bottle and shake it.", + "Pick up the bottle with white printed label and shake it.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Hold the handheld green bottle with the left arm and shake lightly.", + "Lift the plastic bottle and shake it thoroughly.", + "Lift up the bottle with narrow top using the left arm, then shake.", + "Grab the smooth green plastic bottle carefully and shake.", + "Pick the bottle with white printed label, shake it with the left arm.", + "Hold the smooth green bottle steady, then shake it.", + "Using the left arm, shake the medium-sized green bottle and then place it back.", + "Grab the bottle with rounded neck and shake it steadily.", + "Pick the bottle with ridges near base up with the left arm and shake.", + "With the left arm, pick the medium green bottle with capped neck and shake properly.", + "Shake the medium green bottle after grabbing it.", + "Shake the bottle with white printed label after lifting it.", + "Grasp the bottle with rounded neck with the left arm and shake it.", + "Use the left arm to pick and shake the smooth green bottle.", + "Grab the green bottle with indented base and give it a shake.", + "Pick the bottle with white printed label and perform shaking motion.", + "Catch the smooth green bottle and shake it instantly.", + "Secure the bottle with ridges near base and perform a shake.", + "Take the bottle with white printed label using the left arm and give it a shake.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Grab and shake the bottle with narrow top using the left arm.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Hold the green bottle with indented base, shake it briefly.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Grab the green bottle with indented base with the left arm and shake.", + "Shake the bottle with ridges near base after grabbing it.", + "Hold the bottle with narrow top and shake it properly.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the bottle with rounded neck using the left arm, then shake.", + "Pick the bottle with rounded neck up using the left arm and shake it.", + "Grab the bottle with ridges near base and move it to shake.", + "Utilize the left arm to hold the smooth green bottle and shake it.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Lift the bottle with rounded neck and shake it gently.", + "Shake the the bottle with ridges near base properly after lifting.", + "Shake the medium green bottle after holding it firmly.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Shake the green bottle with indented base using the left arm after grabbing.", + "Grip the medium-sized green bottle using the left arm and shake.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Hold and shake the the bottle with narrow top carefully.", + "Pick up the green bottle with indented base and shake it well." + ], + "unseen": [ + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode100.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode100.json new file mode 100644 index 0000000000000000000000000000000000000000..585df63c737d097431da42f0ca719799d598ff78 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode100.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with ridges near base after grabbing it.", + "Utilize the right arm to hold the handheld green bottle and shake it.", + "Take the bottle with white printed label using the right arm and give it a shake.", + "Lift the smooth green bottle with the right arm and shake it.", + "Grasp the bottle with rounded neck with the right arm and shake it.", + "Hold the bottle with white printed label, shake it briefly.", + "Grip the bottle with ridges near base using the right arm and shake.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Hold the bottle with white printed label and shake it properly.", + "Shake the bottle with narrow top after holding it firmly.", + "Use the right arm to grab the medium green bottle with capped neck and shake it.", + "Hold the plastic bottle steady, then shake it.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Lift up the bottle with white printed label using the right arm, then shake.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Grab and shake the medium green bottle with capped neck using the right arm.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Grab the medium green bottle and move it to shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Lift the medium green bottle with the right arm and shake.", + "Pick up the smooth green bottle and shake it well.", + "Hold the handheld green bottle with the right arm and shake lightly.", + "Shake the bottle with narrow top using the right arm after grabbing.", + "Secure the medium green bottle and perform a shake.", + "Use the right arm to pick and shake the smooth green plastic bottle.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Use the right arm to grab the medium-sized green bottle and shake properly.", + "Pick the medium green bottle with capped neck up using the right arm and shake it.", + "With the right arm, pick the bottle with ridges near base and shake properly.", + "Use the right arm to hold the handheld green bottle and shake it.", + "Shake the medium green bottle firmly after grabbing.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Pick the bottle with white printed label up with the right arm and shake.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Shake the green bottle with indented base after grabbing it.", + "Grab the plastic bottle using the right arm, then shake.", + "Shake the the bottle with rounded neck properly after lifting.", + "Grab the bottle with narrow top with the right arm and shake.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Grab the smooth green plastic bottle carefully and shake.", + "Catch the plastic bottle and shake it instantly.", + "Using the right arm, shake the green bottle with indented base and then place it back.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Lift the bottle with rounded neck with the right arm and give it a shake.", + "Pick up the bottle with narrow top and shake it.", + "Shake the medium green bottle with capped neck after lifting it.", + "Shake the bottle with narrow top after grabbing it.", + "Pick the medium green bottle with capped neck, shake it with the right arm.", + "Shake the smooth green plastic bottle after grabbing it.", + "Utilize the right arm to hold the bottle with rounded neck and shake it.", + "Take the medium green bottle using the right arm and give it a shake.", + "Lift the medium green bottle with capped neck with the right arm and shake it.", + "Grasp the smooth green plastic bottle with the right arm and shake it.", + "Hold the green bottle with indented base, shake it briefly.", + "Grip the plastic bottle using the right arm and shake.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Hold the smooth green bottle and shake it properly.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Use the right arm to grab the medium green bottle and shake it.", + "Hold the plastic bottle steady, then shake it.", + "Hold and shake the the medium-sized green bottle carefully.", + "Lift up the bottle with narrow top using the right arm, then shake.", + "Use the right arm to lift and shake the medium green bottle.", + "Grab and shake the medium green bottle with capped neck using the right arm.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Grab the bottle with rounded neck and move it to shake.", + "Grab the bottle with narrow top and give it a shake.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Lift the handheld green bottle with the right arm and shake.", + "Pick up the green bottle with indented base and shake it well.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Shake the plastic bottle using the right arm after grabbing.", + "Secure the medium green bottle and perform a shake.", + "Use the right arm to pick and shake the green bottle with indented base.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Use the right arm to grab the handheld green bottle and shake properly.", + "Pick the handheld green bottle up using the right arm and shake it.", + "With the right arm, pick the plastic bottle and shake properly.", + "Use the right arm to hold the smooth green bottle and shake it.", + "Shake the handheld green bottle firmly after grabbing.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Pick the handheld green bottle up with the right arm and shake.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grab the medium-sized green bottle using the right arm, then shake.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Grab the bottle with white printed label with the right arm and shake.", + "Lift the handheld green bottle and shake it gently.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Catch the handheld green bottle and shake it instantly.", + "Using the right arm, shake the bottle with ridges near base and then place it back.", + "Lift the smooth green bottle and shake it thoroughly.", + "Grab the green bottle with indented base and shake it steadily.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the smooth green plastic bottle after lifting it.", + "Shake the smooth green bottle after grabbing it.", + "Pick the plastic bottle, shake it with the right arm." + ], + "unseen": [ + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode101.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode101.json new file mode 100644 index 0000000000000000000000000000000000000000..27393f8b5dc4d2769ca1c750491910b152cc7af4 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode101.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the bottle with ridges near base.", + "Pick the bottle with rounded neck, shake it with the left arm.", + "Hold and shake the the bottle with ridges near base carefully.", + "Take the smooth green plastic bottle using the left arm and give it a shake.", + "Use the left arm to grab the bottle with white printed label and shake properly.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Grab the handheld green bottle and move it to shake.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Shake the smooth green plastic bottle using the left arm after grabbing.", + "Hold the bottle with ridges near base, shake it briefly.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Grab and shake the green bottle with indented base using the left arm.", + "Pick the smooth green plastic bottle up using the left arm and shake it.", + "Hold the bottle with ridges near base with the left arm and shake lightly.", + "Grab the medium-sized green bottle and shake it steadily.", + "Pick the smooth green bottle up with the left arm and shake.", + "Using the left arm, shake the bottle with white printed label and then place it back.", + "Use the left arm to hold the medium green bottle and shake it.", + "Shake the handheld green bottle after holding it firmly.", + "Shake the smooth green plastic bottle after grabbing it.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Grab the bottle with rounded neck with the left arm and shake.", + "Grab the green bottle with indented base carefully and shake.", + "Lift the green bottle with indented base with the left arm and shake it.", + "Grasp the bottle with white printed label with the left arm and shake it.", + "Lift the medium green bottle and shake it gently.", + "Hold the bottle with rounded neck and shake it properly.", + "Shake the the green bottle with indented base properly after lifting.", + "Shake the green bottle with indented base after grabbing it.", + "Pick up the bottle with ridges near base and shake it well.", + "Grab the bottle with rounded neck and give it a shake.", + "Use the left arm to lift and shake the handheld green bottle.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "Lift up the green bottle with indented base using the left arm, then shake.", + "Lift the smooth green plastic bottle with the left arm and shake.", + "Grab the handheld green bottle using the left arm, then shake.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Shake the green bottle with indented base after lifting it.", + "Shake the medium green bottle after grabbing it.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Use the left arm to pick and shake the medium green bottle with capped neck.", + "Secure the medium-sized green bottle and perform a shake.", + "Use the left arm to grab the bottle with white printed label and shake it.", + "Use the left arm to lift and shake the handheld green bottle.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Hold the plastic bottle steady, then shake it.", + "With the left arm, pick the bottle with narrow top and shake properly.", + "Lift the handheld green bottle with the left arm and give it a shake.", + "Pick up the bottle with rounded neck and shake it.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Pick the bottle with narrow top, shake it with the left arm.", + "Hold and shake the the smooth green bottle carefully.", + "Take the bottle with white printed label using the left arm and give it a shake.", + "Use the left arm to grab the smooth green bottle and shake properly.", + "Catch the bottle with ridges near base and shake it instantly.", + "Grab the medium green bottle and move it to shake.", + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Shake the medium green bottle with capped neck using the left arm after grabbing.", + "Hold the medium-sized green bottle, shake it briefly.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Grab and shake the handheld green bottle using the left arm.", + "Pick the smooth green bottle up using the left arm and shake it.", + "Hold the bottle with rounded neck with the left arm and shake lightly.", + "Grab the bottle with ridges near base and shake it steadily.", + "Pick the bottle with white printed label up with the left arm and shake.", + "Using the left arm, shake the medium green bottle and then place it back.", + "Use the left arm to hold the medium-sized green bottle and shake it.", + "Shake the smooth green bottle after holding it firmly.", + "Shake the handheld green bottle after grabbing it.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Grab the handheld green bottle with the left arm and shake.", + "Grab the green bottle with indented base carefully and shake.", + "Lift the medium green bottle with capped neck with the left arm and shake it.", + "Grasp the medium-sized green bottle with the left arm and shake it.", + "Lift the plastic bottle and shake it gently.", + "Hold the green bottle with indented base and shake it properly.", + "Shake the the bottle with rounded neck properly after lifting.", + "Shake the bottle with rounded neck after grabbing it.", + "Pick up the medium green bottle and shake it well.", + "Grab the plastic bottle and give it a shake.", + "Use the left arm to lift and shake the handheld green bottle.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "Lift up the bottle with narrow top using the left arm, then shake.", + "Lift the bottle with narrow top with the left arm and shake.", + "Grab the handheld green bottle using the left arm, then shake.", + "Utilize the left arm to hold the medium green bottle with capped neck and shake it.", + "Shake the bottle with rounded neck after lifting it.", + "Shake the smooth green bottle after grabbing it.", + "Lift the plastic bottle and shake it thoroughly.", + "Use the left arm to pick and shake the smooth green plastic bottle.", + "Secure the bottle with rounded neck and perform a shake.", + "Use the left arm to grab the handheld green bottle and shake it.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Shake the handheld green bottle firmly after grabbing.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Hold the green bottle with indented base steady, then shake it.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Lift the smooth green bottle with the left arm and give it a shake.", + "Pick up the bottle with rounded neck and shake it." + ], + "unseen": [ + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode102.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode102.json new file mode 100644 index 0000000000000000000000000000000000000000..0a84798b0fded91ff7e0e0b69c9b00c3ad58301c --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode102.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Shake the Coca-Cola bottle after lifting it.", + "Pick up the bottle with white neck and red top and shake it well.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Grab the long thin bottle and give it a shake.", + "Use the left arm to hold the medium dark brown bottle and shake it.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Hold the plastic drink bottle steady, then shake it.", + "Pick up the medium dark brown bottle and shake it.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Shake the narrow-necked bottle after grabbing it.", + "Take the hand-sized soda bottle using the left arm and give it a shake.", + "Grab the dark drink bottle with logo using the left arm, then shake.", + "Using the left arm, shake the dark drink bottle with logo and then place it back.", + "Use the left arm to grab the smooth bottle with red lid and shake it.", + "Grab the narrow-necked bottle and move it to shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Pick the hand-sized soda bottle, shake it with the left arm.", + "Shake the long thin bottle thoroughly after grabbing it.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Grasp the narrow-necked bottle with the left arm and shake it.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Pick the brown bottle with red label and perform shaking motion.", + "Lift up the Coca-Cola bottle using the left arm, then shake.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Lift the bottle with white neck and red top with the left arm and shake it.", + "Hold the hand-sized soda bottle with the left arm and shake lightly.", + "Grip the Coca-Cola bottle using the left arm and shake.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Grab the bottle with white neck and red top carefully and shake.", + "Use the left arm to pick and shake the narrow-necked bottle.", + "Lift the smooth bottle with red lid and shake it gently.", + "Secure the plastic drink bottle and perform a shake.", + "Hold the narrow-necked bottle, shake it briefly.", + "Shake the bottle with white neck and red top using the left arm after grabbing.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Hold and shake the the long thin bottle carefully.", + "Hold the plastic drink bottle and shake it properly.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Shake the brown bottle with red label after lifting it.", + "Pick up the medium dark brown bottle and shake it well.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Grab the red-capped bottle and give it a shake.", + "Use the left arm to hold the bottle with white neck and red top and shake it.", + "Utilize the left arm to hold the plastic drink bottle and shake it.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Shake the brown bottle with red label after grabbing it.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Pick up the smooth bottle with red lid and shake it.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Grab and shake the Coca-Cola bottle using the left arm.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Shake the smooth bottle with red lid after grabbing it.", + "Take the Coca-Cola bottle using the left arm and give it a shake.", + "Grab the smooth bottle with red lid using the left arm, then shake.", + "Using the left arm, shake the dark drink bottle with logo and then place it back.", + "Use the left arm to grab the red-capped bottle and shake it.", + "Grab the red-capped bottle and move it to shake.", + "Shake the brown bottle with red label after grabbing it.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Grab the plastic drink bottle with the left arm and shake.", + "Pick the dark drink bottle with logo up with the left arm and shake.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Grasp the medium dark brown bottle with the left arm and shake it.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Use the left arm to grab the Coca-Cola bottle and shake properly.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Lift up the red-capped bottle using the left arm, then shake.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Grip the red-capped bottle using the left arm and shake.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Grab the dark drink bottle with logo carefully and shake.", + "Use the left arm to pick and shake the hand-sized soda bottle.", + "Lift the long thin bottle and shake it gently.", + "Secure the plastic drink bottle and perform a shake.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Lift the Coca-Cola bottle with the left arm and shake.", + "Hold and shake the the long thin bottle carefully.", + "Hold the dark drink bottle with logo and shake it properly." + ], + "unseen": [ + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode103.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode103.json new file mode 100644 index 0000000000000000000000000000000000000000..4fdb2198884aa8c2e5d652f0837d1622381b4500 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode103.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with ridges on bottom after lifting it.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Shake the narrow-necked bottle after holding it firmly.", + "Pick the dark drink bottle with logo up with the right arm and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Grab the plastic drink bottle with the right arm and shake.", + "Pick the dark drink bottle with logo, shake it with the right arm.", + "Grab the medium dark brown bottle and shake it steadily.", + "Hold the long thin bottle and shake it properly.", + "With the right arm, pick the bottle with ridges on bottom and shake properly.", + "Use the right arm to hold the dark drink bottle with logo and shake it.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Take the long thin bottle using the right arm and give it a shake.", + "Pick up the Coca-Cola bottle and shake it.", + "Grab the brown bottle with red label and give it a shake.", + "Lift the medium dark brown bottle with the right arm and shake it.", + "Grab the plastic drink bottle carefully and shake.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Grip the narrow-necked bottle using the right arm and shake.", + "Lift the narrow-necked bottle and shake it gently.", + "Lift the medium dark brown bottle with the right arm and give it a shake.", + "Hold the long thin bottle steady, then shake it.", + "Pick the brown bottle with red label and perform shaking motion.", + "Grab and shake the brown bottle with red label using the right arm.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Shake the smooth bottle with red lid after grabbing it.", + "Use the right arm to grab the dark drink bottle with logo and shake it.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Use the right arm to pick and shake the hand-sized soda bottle.", + "Grab the dark drink bottle with logo using the right arm, then shake.", + "Pick the dark drink bottle with logo up using the right arm and shake it.", + "Use the right arm to grab the red-capped bottle and shake properly.", + "Pick up the medium dark brown bottle and shake it well.", + "Shake the red-capped bottle after grabbing it.", + "Hold and shake the the brown bottle with red label carefully.", + "Lift the long thin bottle with the right arm and shake.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Hold the narrow-necked bottle, shake it briefly.", + "Secure the smooth bottle with red lid and perform a shake.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Grasp the Coca-Cola bottle with the right arm and shake it.", + "Hold the medium dark brown bottle with the right arm and shake lightly.", + "Shake the red-capped bottle using the right arm after grabbing.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Grab the narrow-necked bottle and move it to shake.", + "Lift up the medium dark brown bottle using the right arm, then shake.", + "Using the right arm, shake the medium dark brown bottle and then place it back.", + "Shake the brown bottle with red label firmly after grabbing.", + "Shake the dark drink bottle with logo after lifting it.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Shake the brown bottle with red label after holding it firmly.", + "Pick the bottle with white neck and red top up with the right arm and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Grab the bottle with white neck and red top with the right arm and shake.", + "Pick the bottle with ridges on bottom, shake it with the right arm.", + "Grab the red-capped bottle and shake it steadily.", + "Hold the dark drink bottle with logo and shake it properly.", + "With the right arm, pick the brown bottle with red label and shake properly.", + "Use the right arm to hold the dark drink bottle with logo and shake it.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Take the bottle with white neck and red top using the right arm and give it a shake.", + "Pick up the bottle with ridges on bottom and shake it.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Lift the Coca-Cola bottle with the right arm and shake it.", + "Grab the brown bottle with red label carefully and shake.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Grip the smooth bottle with red lid using the right arm and shake.", + "Lift the red-capped bottle and shake it gently.", + "Lift the Coca-Cola bottle with the right arm and give it a shake.", + "Hold the plastic drink bottle steady, then shake it.", + "Pick the brown bottle with red label and perform shaking motion.", + "Grab and shake the long thin bottle using the right arm.", + "Shake the the medium dark brown bottle properly after lifting.", + "Catch the medium dark brown bottle and shake it instantly.", + "Shake the dark drink bottle with logo after grabbing it.", + "Use the right arm to grab the brown bottle with red label and shake it.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Use the right arm to pick and shake the plastic drink bottle.", + "Grab the dark drink bottle with logo using the right arm, then shake.", + "Pick the long thin bottle up using the right arm and shake it.", + "Use the right arm to grab the hand-sized soda bottle and shake properly.", + "Pick up the bottle with white neck and red top and shake it well.", + "Shake the bottle with white neck and red top after grabbing it.", + "Hold and shake the the long thin bottle carefully.", + "Lift the medium dark brown bottle with the right arm and shake.", + "Utilize the right arm to hold the red-capped bottle and shake it.", + "Hold the medium dark brown bottle, shake it briefly.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Grasp the bottle with white neck and red top with the right arm and shake it.", + "Hold the narrow-necked bottle with the right arm and shake lightly.", + "Shake the red-capped bottle using the right arm after grabbing.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Grab the dark drink bottle with logo and move it to shake.", + "Lift up the dark drink bottle with logo using the right arm, then shake.", + "Using the right arm, shake the red-capped bottle and then place it back.", + "Shake the bottle with white neck and red top firmly after grabbing." + ], + "unseen": [ + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode104.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode104.json new file mode 100644 index 0000000000000000000000000000000000000000..437c2a266730a5b7144f877a5a8cbbe3475c9a43 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode104.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the plastic drink bottle.", + "Grasp the bottle with ridges on bottom with the left arm and shake it.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Grab the smooth bottle with red lid with the left arm and shake.", + "Secure the dark drink bottle with logo and perform a shake.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "With the left arm, pick the dark drink bottle with logo and shake properly.", + "Take the medium dark brown bottle using the left arm and give it a shake.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Grab the bottle with ridges on bottom using the left arm, then shake.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Pick the dark drink bottle with logo up with the left arm and shake.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Shake the the medium dark brown bottle properly after lifting.", + "Shake the brown bottle with red label firmly after grabbing.", + "Shake the long thin bottle after holding it firmly.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Shake the long thin bottle after lifting it.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Use the left arm to hold the bottle with ridges on bottom and shake it.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Hold the brown bottle with red label, shake it briefly.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Pick up the bottle with white neck and red top and shake it well.", + "Grab the red-capped bottle and move it to shake.", + "Grab the brown bottle with red label and give it a shake.", + "Hold the bottle with white neck and red top and shake it properly.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Pick the brown bottle with red label, shake it with the left arm.", + "Shake the bottle with white neck and red top after grabbing it.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Grab the red-capped bottle carefully and shake.", + "Use the left arm to grab the plastic drink bottle and shake properly.", + "Use the left arm to grab the brown bottle with red label and shake it.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Lift the smooth bottle with red lid with the left arm and shake.", + "Pick up the bottle with white neck and red top and shake it.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "Lift up the narrow-necked bottle using the left arm, then shake.", + "Lift the hand-sized soda bottle and shake it gently.", + "Grab and shake the dark drink bottle with logo using the left arm.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the left arm to lift and shake the long thin bottle.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Grab the medium dark brown bottle with the left arm and shake.", + "Secure the plastic drink bottle and perform a shake.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Shake the red-capped bottle using the left arm after grabbing.", + "With the left arm, pick the red-capped bottle and shake properly.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Hold the hand-sized soda bottle with the left arm and shake lightly.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Grab the plastic drink bottle using the left arm, then shake.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "Use the left arm to pick and shake the bottle with white neck and red top.", + "Lift the medium dark brown bottle with the left arm and give it a shake.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Shake the the narrow-necked bottle properly after lifting.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Shake the hand-sized soda bottle after lifting it.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Hold the narrow-necked bottle, shake it briefly.", + "Grab the plastic drink bottle and shake it steadily.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Grab the smooth bottle with red lid and move it to shake.", + "Grab the narrow-necked bottle and give it a shake.", + "Hold the narrow-necked bottle and shake it properly.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Pick the smooth bottle with red lid, shake it with the left arm.", + "Shake the hand-sized soda bottle after grabbing it.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Grab the dark drink bottle with logo carefully and shake.", + "Use the left arm to grab the dark drink bottle with logo and shake properly.", + "Use the left arm to grab the narrow-necked bottle and shake it.", + "Grip the bottle with white neck and red top using the left arm and shake.", + "Shake the plastic drink bottle after grabbing it.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Lift the plastic drink bottle with the left arm and shake.", + "Pick up the narrow-necked bottle and shake it.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Lift up the medium dark brown bottle using the left arm, then shake.", + "Lift the hand-sized soda bottle and shake it gently.", + "Grab and shake the narrow-necked bottle using the left arm.", + "Lift the bottle with ridges on bottom with the left arm and shake it.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Shake the dark drink bottle with logo after grabbing it." + ], + "unseen": [ + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode105.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode105.json new file mode 100644 index 0000000000000000000000000000000000000000..5cf226a4d946da29e1e1b9203a1705cdd5a62adb --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode105.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the red-capped bottle and shake it thoroughly.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "With the left arm, pick the medium dark brown bottle and shake properly.", + "Grab the medium dark brown bottle and give it a shake.", + "Lift the long thin bottle with the left arm and shake.", + "Use the left arm to grab the smooth bottle with red lid and shake it.", + "Shake the bottle with white neck and red top after grabbing it.", + "Use the left arm to hold the long thin bottle and shake it.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Shake the narrow-necked bottle after grabbing it.", + "Take the bottle with white neck and red top using the left arm and give it a shake.", + "Lift the narrow-necked bottle with the left arm and give it a shake.", + "Hold and shake the the plastic drink bottle carefully.", + "Hold the bottle with white neck and red top and shake it properly.", + "Pick up the narrow-necked bottle and shake it well.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Grab the bottle with white neck and red top with the left arm and shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Secure the long thin bottle, shake it, and place it down.", + "Secure the smooth bottle with red lid and perform a shake.", + "Grab the long thin bottle carefully and shake.", + "Grab the medium dark brown bottle and shake it steadily.", + "Shake the long thin bottle after holding it firmly.", + "Grab and shake the Coca-Cola bottle using the left arm.", + "Pick up the Coca-Cola bottle and shake it.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Lift up the brown bottle with red label using the left arm, then shake.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Grasp the medium dark brown bottle with the left arm and shake it.", + "Utilize the left arm to hold the plastic drink bottle and shake it.", + "Pick the smooth bottle with red lid, shake it with the left arm.", + "Pick the smooth bottle with red lid up with the left arm and shake.", + "Grab the narrow-necked bottle and move it to shake.", + "Hold the long thin bottle steady, then shake it.", + "Grab the Coca-Cola bottle using the left arm, then shake.", + "Using the left arm, shake the narrow-necked bottle and then place it back.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Shake the brown bottle with red label after lifting it.", + "Lift the dark drink bottle with logo with the left arm and shake it.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Use the left arm to lift and shake the red-capped bottle.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Grip the narrow-necked bottle using the left arm and shake.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Hold the narrow-necked bottle, shake it briefly.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Grab the dark drink bottle with logo and give it a shake.", + "Lift the Coca-Cola bottle with the left arm and shake.", + "Use the left arm to grab the hand-sized soda bottle and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the left arm to hold the narrow-necked bottle and shake it.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Use the left arm to lift and shake the long thin bottle.", + "Shake the smooth bottle with red lid after grabbing it.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Hold and shake the the long thin bottle carefully.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Pick up the bottle with white neck and red top and shake it well.", + "Shake the red-capped bottle firmly after grabbing.", + "Grab the medium dark brown bottle with the left arm and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Use the left arm to grab the medium dark brown bottle and shake properly.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Secure the bottle with white neck and red top and perform a shake.", + "Grab the dark drink bottle with logo carefully and shake.", + "Grab the medium dark brown bottle and shake it steadily.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Grab and shake the smooth bottle with red lid using the left arm.", + "Pick up the medium dark brown bottle and shake it.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Pick the brown bottle with red label and perform shaking motion.", + "Grasp the bottle with ridges on bottom with the left arm and shake it.", + "Utilize the left arm to hold the brown bottle with red label and shake it.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Pick the red-capped bottle up with the left arm and shake.", + "Grab the long thin bottle and move it to shake.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Grab the Coca-Cola bottle using the left arm, then shake.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Pick the dark drink bottle with logo up using the left arm and shake it.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Shake the dark drink bottle with logo after lifting it.", + "Lift the red-capped bottle with the left arm and shake it.", + "Shake the the narrow-necked bottle properly after lifting.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Catch the medium dark brown bottle and shake it instantly.", + "Grip the hand-sized soda bottle using the left arm and shake." + ], + "unseen": [ + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode106.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode106.json new file mode 100644 index 0000000000000000000000000000000000000000..f2b02a077e6cf3931da90b70b7c4e9bce6822253 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode106.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the red-capped bottle and shake it.", + "Pick up the narrow-necked bottle and shake it.", + "Lift the medium dark brown bottle with the right arm and shake it.", + "Lift the brown bottle with red label with the right arm and shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Grab the medium dark brown bottle using the right arm, then shake.", + "Grab and shake the dark drink bottle with logo using the right arm.", + "Shake the hand-sized soda bottle after grabbing it.", + "Pick the smooth bottle with red lid, shake it with the right arm.", + "Use the right arm to pick and shake the narrow-necked bottle.", + "Shake the long thin bottle using the right arm after grabbing.", + "Grab the narrow-necked bottle and give it a shake.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Pick the bottle with white neck and red top up using the right arm and shake it.", + "Shake the smooth bottle with red lid after lifting it.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Pick up the brown bottle with red label and shake it well.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Hold the red-capped bottle with the right arm and shake lightly.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Hold the medium dark brown bottle and shake it properly.", + "Grab the plastic drink bottle with the right arm and shake.", + "Utilize the right arm to hold the plastic drink bottle and shake it.", + "Lift the plastic drink bottle and shake it gently.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Hold the plastic drink bottle steady, then shake it.", + "Use the right arm to grab the Coca-Cola bottle and shake properly.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Secure the medium dark brown bottle and perform a shake.", + "Use the right arm to hold the plastic drink bottle and shake it.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Grab the bottle with white neck and red top carefully and shake.", + "Grasp the dark drink bottle with logo with the right arm and shake it.", + "Pick the red-capped bottle up with the right arm and shake.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Using the right arm, shake the Coca-Cola bottle and then place it back.", + "Grab the plastic drink bottle and move it to shake.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Catch the medium dark brown bottle and shake it instantly.", + "Shake the red-capped bottle after grabbing it.", + "Grip the medium dark brown bottle using the right arm and shake.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Lift up the smooth bottle with red lid using the right arm, then shake.", + "Shake the the red-capped bottle properly after lifting.", + "Take the dark drink bottle with logo using the right arm and give it a shake.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Pick the brown bottle with red label and perform shaking motion.", + "Lift the brown bottle with red label with the right arm and give it a shake.", + "Use the right arm to grab the smooth bottle with red lid and shake it.", + "Pick up the bottle with white neck and red top and shake it.", + "Lift the dark drink bottle with logo with the right arm and shake it.", + "Lift the bottle with ridges on bottom with the right arm and shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grab the dark drink bottle with logo using the right arm, then shake.", + "Grab and shake the Coca-Cola bottle using the right arm.", + "Shake the red-capped bottle after grabbing it.", + "Pick the medium dark brown bottle, shake it with the right arm.", + "Use the right arm to pick and shake the hand-sized soda bottle.", + "Shake the Coca-Cola bottle using the right arm after grabbing.", + "Grab the Coca-Cola bottle and give it a shake.", + "With the right arm, pick the brown bottle with red label and shake properly.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Pick the Coca-Cola bottle up using the right arm and shake it.", + "Shake the medium dark brown bottle after lifting it.", + "Use the right arm to lift and shake the red-capped bottle.", + "Pick up the smooth bottle with red lid and shake it well.", + "Hold the narrow-necked bottle, shake it briefly.", + "Hold the narrow-necked bottle with the right arm and shake lightly.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Hold the medium dark brown bottle and shake it properly.", + "Grab the medium dark brown bottle with the right arm and shake.", + "Utilize the right arm to hold the medium dark brown bottle and shake it.", + "Lift the narrow-necked bottle and shake it gently.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Shake the narrow-necked bottle after holding it firmly.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Use the right arm to grab the narrow-necked bottle and shake properly.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Secure the Coca-Cola bottle and perform a shake.", + "Use the right arm to hold the dark drink bottle with logo and shake it.", + "Secure the red-capped bottle, shake it, and place it down.", + "Grab the hand-sized soda bottle carefully and shake.", + "Grasp the bottle with white neck and red top with the right arm and shake it.", + "Pick the narrow-necked bottle up with the right arm and shake.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Using the right arm, shake the narrow-necked bottle and then place it back.", + "Grab the brown bottle with red label and move it to shake.", + "Hold and shake the the long thin bottle carefully.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grip the Coca-Cola bottle using the right arm and shake.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Lift up the hand-sized soda bottle using the right arm, then shake.", + "Shake the the red-capped bottle properly after lifting.", + "Take the bottle with ridges on bottom using the right arm and give it a shake.", + "Shake the plastic drink bottle firmly after grabbing.", + "Pick the brown bottle with red label and perform shaking motion.", + "Lift the narrow-necked bottle with the right arm and give it a shake." + ], + "unseen": [ + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Use the right arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Use the right arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode107.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode107.json new file mode 100644 index 0000000000000000000000000000000000000000..46c4d93ed2fe7c2ee35517c4eadba7c986e70717 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode107.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the brown bottle with red label and shake it.", + "Lift the narrow-necked bottle and shake it gently.", + "Pick the dark drink bottle with logo up with the left arm and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Grab the Coca-Cola bottle using the left arm, then shake.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Pick the long thin bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Grab the medium dark brown bottle and move it to shake.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "Lift the brown bottle with red label with the left arm and give it a shake.", + "Shake the medium dark brown bottle after lifting it.", + "Grasp the bottle with ridges on bottom with the left arm and shake it.", + "Use the left arm to pick and shake the medium dark brown bottle.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Lift the smooth bottle with red lid with the left arm and shake.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "Grab and shake the medium dark brown bottle using the left arm.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Secure the smooth bottle with red lid and perform a shake.", + "Shake the long thin bottle after holding it firmly.", + "Hold the plastic drink bottle, shake it briefly.", + "Use the left arm to grab the Coca-Cola bottle and shake it.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Utilize the left arm to hold the bottle with white neck and red top and shake it.", + "Hold the brown bottle with red label and shake it properly.", + "Hold the plastic drink bottle with the left arm and shake lightly.", + "Shake the the red-capped bottle properly after lifting.", + "Using the left arm, shake the dark drink bottle with logo and then place it back.", + "Lift up the dark drink bottle with logo using the left arm, then shake.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Use the left arm to grab the Coca-Cola bottle and shake properly.", + "Pick up the hand-sized soda bottle and shake it well.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Take the dark drink bottle with logo using the left arm and give it a shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Grip the Coca-Cola bottle using the left arm and shake.", + "Grab the brown bottle with red label and give it a shake.", + "Pick the smooth bottle with red lid, shake it with the left arm.", + "With the left arm, pick the bottle with white neck and red top and shake properly.", + "Use the left arm to hold the dark drink bottle with logo and shake it.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Grab the plastic drink bottle carefully and shake.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Pick up the narrow-necked bottle and shake it.", + "Lift the bottle with white neck and red top and shake it gently.", + "Pick the dark drink bottle with logo up with the left arm and shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Grab the medium dark brown bottle using the left arm, then shake.", + "Use the left arm to lift and shake the long thin bottle.", + "Pick the smooth bottle with red lid up using the left arm and shake it.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Grab the brown bottle with red label and move it to shake.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Lift the smooth bottle with red lid with the left arm and shake it.", + "Lift the brown bottle with red label with the left arm and give it a shake.", + "Shake the brown bottle with red label after lifting it.", + "Grasp the bottle with white neck and red top with the left arm and shake it.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Catch the brown bottle with red label and shake it instantly.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Grab and shake the dark drink bottle with logo using the left arm.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Secure the hand-sized soda bottle and perform a shake.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Use the left arm to grab the narrow-necked bottle and shake it.", + "Shake the bottle with white neck and red top using the left arm after grabbing.", + "Utilize the left arm to hold the Coca-Cola bottle and shake it.", + "Hold the narrow-necked bottle and shake it properly.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Using the left arm, shake the dark drink bottle with logo and then place it back.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Hold and shake the the red-capped bottle carefully.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Pick up the bottle with white neck and red top and shake it well.", + "Shake the long thin bottle after grabbing it.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Shake the long thin bottle after grabbing it.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Grip the long thin bottle using the left arm and shake.", + "Grab the dark drink bottle with logo and give it a shake.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "With the left arm, pick the long thin bottle and shake properly.", + "Use the left arm to hold the dark drink bottle with logo and shake it.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Grab the long thin bottle carefully and shake.", + "Use the left arm to lift and shake the red-capped bottle." + ], + "unseen": [ + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode108.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode108.json new file mode 100644 index 0000000000000000000000000000000000000000..fb38e2b358eaf35b0bf15243743a5c31e584e802 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode108.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Use the left arm to grab the bottle with white printed label and shake it.", + "Pick up the bottle with ridges near base and shake it well.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Shake the bottle with narrow top after lifting it.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Lift the bottle with narrow top with the left arm and give it a shake.", + "Grab and shake the bottle with white printed label using the left arm.", + "Pick the smooth green plastic bottle, shake it with the left arm.", + "Hold the medium green bottle steady, then shake it.", + "Grip the green bottle with indented base using the left arm and shake.", + "Catch the smooth green bottle and shake it instantly.", + "Hold the medium green bottle with capped neck with the left arm and shake lightly.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Shake the bottle with narrow top after holding it firmly.", + "Secure the bottle with white printed label and perform a shake.", + "Grab the smooth green bottle using the left arm, then shake.", + "Hold and shake the the bottle with white printed label carefully.", + "Shake the plastic bottle firmly after grabbing.", + "Using the left arm, shake the medium green bottle and then place it back.", + "Hold the bottle with white printed label and shake it properly.", + "Lift up the medium green bottle using the left arm, then shake.", + "Lift the bottle with white printed label and shake it gently.", + "Shake the smooth green plastic bottle using the left arm after grabbing.", + "With the left arm, pick the smooth green plastic bottle and shake properly.", + "Pick the smooth green bottle and perform shaking motion.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Shake the the bottle with ridges near base properly after lifting.", + "Pick the medium green bottle up using the left arm and shake it.", + "Grasp the medium green bottle with capped neck with the left arm and shake it.", + "Utilize the left arm to hold the smooth green bottle and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Lift the medium green bottle with capped neck with the left arm and shake it.", + "Hold the plastic bottle, shake it briefly.", + "Shake the bottle with white printed label after grabbing it.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Grab the medium green bottle and move it to shake.", + "Pick the plastic bottle up with the left arm and shake.", + "Shake the smooth green bottle after grabbing it.", + "Use the left arm to pick and shake the bottle with rounded neck.", + "Take the medium green bottle using the left arm and give it a shake.", + "Use the left arm to hold the medium green bottle with capped neck and shake it.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Grab the medium-sized green bottle and give it a shake.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Grab the bottle with narrow top with the left arm and shake.", + "Grab the smooth green bottle carefully and shake.", + "Pick up the handheld green bottle and shake it.", + "Lift the medium-sized green bottle with the left arm and shake.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Use the left arm to grab the handheld green bottle and shake it.", + "Pick up the smooth green bottle and shake it well.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Shake the bottle with white printed label after lifting it.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Grab and shake the medium-sized green bottle using the left arm.", + "Pick the medium green bottle, shake it with the left arm.", + "Hold the plastic bottle steady, then shake it.", + "Grip the smooth green bottle using the left arm and shake.", + "Catch the medium-sized green bottle and shake it instantly.", + "Hold the green bottle with indented base with the left arm and shake lightly.", + "Use the left arm to grab the bottle with narrow top and shake properly.", + "Shake the bottle with ridges near base after holding it firmly.", + "Secure the bottle with white printed label and perform a shake.", + "Grab the bottle with rounded neck using the left arm, then shake.", + "Hold and shake the the handheld green bottle carefully.", + "Shake the green bottle with indented base firmly after grabbing.", + "Using the left arm, shake the smooth green bottle and then place it back.", + "Hold the bottle with narrow top and shake it properly.", + "Lift up the medium green bottle using the left arm, then shake.", + "Lift the smooth green plastic bottle and shake it gently.", + "Shake the plastic bottle using the left arm after grabbing.", + "With the left arm, pick the medium green bottle and shake properly.", + "Pick the green bottle with indented base and perform shaking motion.", + "Grab the bottle with ridges near base and shake it steadily.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Pick the smooth green plastic bottle up using the left arm and shake it.", + "Grasp the bottle with rounded neck with the left arm and shake it.", + "Utilize the left arm to hold the bottle with white printed label and shake it.", + "Shake the bottle with rounded neck after grabbing it.", + "Lift the bottle with rounded neck with the left arm and shake it.", + "Hold the bottle with white printed label, shake it briefly.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Grab the medium-sized green bottle and move it to shake.", + "Pick the bottle with rounded neck up with the left arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to pick and shake the medium green bottle with capped neck.", + "Take the plastic bottle using the left arm and give it a shake.", + "Use the left arm to hold the green bottle with indented base and shake it.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Grab the smooth green plastic bottle and give it a shake.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Grab the medium green bottle with the left arm and shake.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Pick up the medium-sized green bottle and shake it.", + "Lift the plastic bottle with the left arm and shake." + ], + "unseen": [ + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode109.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode109.json new file mode 100644 index 0000000000000000000000000000000000000000..c4767e3f38897632f39a4cd4ea39b9e11bea6ba3 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode109.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the bottle with rounded neck and shake properly.", + "Secure the medium green bottle, shake it, and place it down.", + "Take the bottle with rounded neck using the right arm and give it a shake.", + "Shake the medium green bottle firmly after grabbing.", + "Lift up the bottle with rounded neck using the right arm, then shake.", + "Shake the handheld green bottle after grabbing it.", + "Hold the bottle with white printed label steady, then shake it.", + "Pick up the bottle with narrow top and shake it.", + "Shake the bottle with rounded neck after holding it firmly.", + "Lift the plastic bottle with the right arm and shake it.", + "Grab the plastic bottle and give it a shake.", + "Pick the plastic bottle up with the right arm and shake.", + "Grab the smooth green bottle and shake it steadily.", + "Hold the medium green bottle with the right arm and shake lightly.", + "Pick the green bottle with indented base and perform shaking motion.", + "Grab the green bottle with indented base with the right arm and shake.", + "Lift the green bottle with indented base and shake it gently.", + "Use the right arm to lift and shake the handheld green bottle.", + "Use the right arm to grab the medium green bottle with capped neck and shake it.", + "Using the right arm, shake the medium-sized green bottle and then place it back.", + "Lift the bottle with white printed label with the right arm and give it a shake.", + "Utilize the right arm to hold the bottle with white printed label and shake it.", + "Pick up the bottle with narrow top and shake it well.", + "Shake the bottle with white printed label after lifting it.", + "Grab the handheld green bottle and move it to shake.", + "Grab and shake the medium green bottle using the right arm.", + "With the right arm, pick the bottle with narrow top and shake properly.", + "Grip the bottle with rounded neck using the right arm and shake.", + "Use the right arm to hold the medium green bottle with capped neck and shake it.", + "Shake the bottle with ridges near base after grabbing it.", + "Use the right arm to lift and shake the smooth green bottle.", + "Use the right arm to lift and shake the plastic bottle.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Shake the bottle with rounded neck using the right arm after grabbing.", + "Use the right arm to pick and shake the plastic bottle.", + "Pick the medium green bottle with capped neck, shake it with the right arm.", + "Lift the medium-sized green bottle with the right arm and shake.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Grab the smooth green plastic bottle using the right arm, then shake.", + "Hold the green bottle with indented base, shake it briefly.", + "Shake the the bottle with white printed label properly after lifting.", + "Grasp the handheld green bottle with the right arm and shake it.", + "Hold the handheld green bottle and shake it properly.", + "Pick the plastic bottle up using the right arm and shake it.", + "Secure the bottle with narrow top and perform a shake.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Shake the bottle with ridges near base after grabbing it.", + "Grab the green bottle with indented base carefully and shake.", + "Catch the medium-sized green bottle and shake it instantly.", + "Use the right arm to grab the medium green bottle and shake properly.", + "Secure the medium green bottle, shake it, and place it down.", + "Take the medium green bottle using the right arm and give it a shake.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Lift up the bottle with narrow top using the right arm, then shake.", + "Shake the handheld green bottle after grabbing it.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Pick up the bottle with narrow top and shake it.", + "Shake the bottle with white printed label after holding it firmly.", + "Lift the smooth green plastic bottle with the right arm and shake it.", + "Grab the bottle with narrow top and give it a shake.", + "Pick the medium green bottle up with the right arm and shake.", + "Grab the bottle with narrow top and shake it steadily.", + "Hold the handheld green bottle with the right arm and shake lightly.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Grab the green bottle with indented base with the right arm and shake.", + "Lift the plastic bottle and shake it gently.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Use the right arm to grab the bottle with narrow top and shake it.", + "Using the right arm, shake the smooth green plastic bottle and then place it back.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Utilize the right arm to hold the green bottle with indented base and shake it.", + "Pick up the bottle with ridges near base and shake it well.", + "Shake the medium-sized green bottle after lifting it.", + "Grab the medium green bottle and move it to shake.", + "Grab and shake the bottle with ridges near base using the right arm.", + "With the right arm, pick the smooth green plastic bottle and shake properly.", + "Grip the bottle with ridges near base using the right arm and shake.", + "Use the right arm to hold the green bottle with indented base and shake it.", + "Shake the medium-sized green bottle after grabbing it.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Hold and shake the the handheld green bottle carefully.", + "Shake the green bottle with indented base using the right arm after grabbing.", + "Use the right arm to pick and shake the medium-sized green bottle.", + "Pick the medium green bottle, shake it with the right arm.", + "Lift the bottle with rounded neck with the right arm and shake.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Grab the bottle with ridges near base using the right arm, then shake.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Grasp the bottle with ridges near base with the right arm and shake it.", + "Hold the green bottle with indented base and shake it properly.", + "Pick the medium-sized green bottle up using the right arm and shake it.", + "Secure the bottle with white printed label and perform a shake.", + "Lift the smooth green bottle and shake it thoroughly.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grab the plastic bottle carefully and shake.", + "Catch the bottle with white printed label and shake it instantly." + ], + "unseen": [ + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode11.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..237108c3e5427340c161285637f3eb0c1bb2a19a --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the handheld green bottle thoroughly after grabbing it.", + "Utilize the left arm to hold the handheld green bottle and shake it.", + "Hold and shake the the bottle with white printed label carefully.", + "Lift the plastic bottle and shake it gently.", + "Shake the smooth green plastic bottle after grabbing it.", + "Catch the bottle with ridges near base and shake it instantly.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Lift the smooth green bottle with the left arm and shake it.", + "Pick the handheld green bottle and perform shaking motion.", + "Shake the medium green bottle with capped neck after lifting it.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Lift up the medium green bottle using the left arm, then shake.", + "Lift the bottle with ridges near base with the left arm and shake.", + "Grab and shake the medium green bottle using the left arm.", + "Shake the plastic bottle after holding it firmly.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the plastic bottle.", + "Use the left arm to grab the smooth green plastic bottle and shake properly.", + "Use the left arm to hold the medium green bottle and shake it.", + "Pick the bottle with white printed label up with the left arm and shake.", + "Grab the handheld green bottle and move it to shake.", + "Pick the plastic bottle up using the left arm and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Use the left arm to grab the medium green bottle with capped neck and shake it.", + "Use the left arm to pick and shake the bottle with narrow top.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Grip the plastic bottle using the left arm and shake.", + "Secure the medium green bottle and perform a shake.", + "Grasp the bottle with white printed label with the left arm and shake it.", + "Use the left arm to lift and shake the medium green bottle.", + "Hold the green bottle with indented base with the left arm and shake lightly.", + "Pick the bottle with narrow top, shake it with the left arm.", + "Hold the medium-sized green bottle steady, then shake it.", + "Shake the the bottle with ridges near base properly after lifting.", + "Grab the plastic bottle using the left arm, then shake.", + "Pick up the medium-sized green bottle and shake it.", + "Grab the handheld green bottle with the left arm and shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "With the left arm, pick the medium green bottle with capped neck and shake properly.", + "Take the handheld green bottle using the left arm and give it a shake.", + "Grab the handheld green bottle and shake it steadily.", + "Shake the bottle with narrow top firmly after grabbing.", + "Pick up the bottle with narrow top and shake it well.", + "Grab the smooth green plastic bottle and give it a shake.", + "Grab the smooth green plastic bottle carefully and shake.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Hold the bottle with rounded neck and shake it properly.", + "Shake the smooth green plastic bottle using the left arm after grabbing.", + "Using the left arm, shake the bottle with rounded neck and then place it back.", + "Lift the smooth green bottle with the left arm and give it a shake.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Utilize the left arm to hold the bottle with narrow top and shake it.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Lift the smooth green bottle and shake it gently.", + "Shake the medium-sized green bottle after grabbing it.", + "Catch the green bottle with indented base and shake it instantly.", + "Use the left arm to lift and shake the medium green bottle.", + "Lift the bottle with ridges near base with the left arm and shake it.", + "Pick the medium green bottle and perform shaking motion.", + "Shake the bottle with rounded neck after lifting it.", + "Hold the bottle with narrow top, shake it briefly.", + "Lift up the bottle with narrow top using the left arm, then shake.", + "Lift the bottle with white printed label with the left arm and shake.", + "Grab and shake the smooth green bottle using the left arm.", + "Shake the bottle with rounded neck after holding it firmly.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Use the left arm to grab the medium green bottle and shake properly.", + "Use the left arm to hold the medium-sized green bottle and shake it.", + "Pick the bottle with ridges near base up with the left arm and shake.", + "Grab the bottle with white printed label and move it to shake.", + "Pick the handheld green bottle up using the left arm and shake it.", + "Shake the bottle with narrow top after grabbing it.", + "Use the left arm to grab the smooth green bottle and shake it.", + "Use the left arm to pick and shake the smooth green plastic bottle.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Grip the medium green bottle using the left arm and shake.", + "Secure the bottle with ridges near base and perform a shake.", + "Grasp the bottle with ridges near base with the left arm and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Hold the medium green bottle with capped neck with the left arm and shake lightly.", + "Pick the plastic bottle, shake it with the left arm.", + "Hold the handheld green bottle steady, then shake it.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Pick up the bottle with rounded neck and shake it.", + "Grab the bottle with narrow top with the left arm and shake.", + "Shake the medium-sized green bottle after grabbing it.", + "With the left arm, pick the medium-sized green bottle and shake properly.", + "Take the medium-sized green bottle using the left arm and give it a shake.", + "Grab the bottle with narrow top and shake it steadily.", + "Shake the plastic bottle firmly after grabbing.", + "Pick up the plastic bottle and shake it well.", + "Grab the plastic bottle and give it a shake.", + "Grab the medium green bottle carefully and shake.", + "Secure the smooth green bottle, shake it, and place it down.", + "Hold the bottle with ridges near base and shake it properly.", + "Shake the medium green bottle with capped neck using the left arm after grabbing.", + "Using the left arm, shake the medium green bottle and then place it back.", + "Lift the medium green bottle with the left arm and give it a shake." + ], + "unseen": [ + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode110.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode110.json new file mode 100644 index 0000000000000000000000000000000000000000..7f64eb22f8418b92617b554d8e4c678250650b59 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode110.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to hold the dark drink bottle with logo and shake it.", + "Grab the narrow-necked bottle carefully and shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Hold the red-capped bottle, shake it briefly.", + "Shake the long thin bottle using the right arm after grabbing.", + "Hold the plastic drink bottle steady, then shake it.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Grab the narrow-necked bottle and give it a shake.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Pick up the Coca-Cola bottle and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Take the bottle with ridges on bottom using the right arm and give it a shake.", + "Lift up the plastic drink bottle using the right arm, then shake.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Grasp the dark drink bottle with logo with the right arm and shake it.", + "Grab the Coca-Cola bottle and move it to shake.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Grab the long thin bottle and shake it steadily.", + "Secure the narrow-necked bottle and perform a shake.", + "Pick the smooth bottle with red lid up using the right arm and shake it.", + "Pick the bottle with ridges on bottom up with the right arm and shake.", + "Grab and shake the plastic drink bottle using the right arm.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Use the right arm to pick and shake the Coca-Cola bottle.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Use the right arm to grab the narrow-necked bottle and shake it.", + "Shake the narrow-necked bottle after grabbing it.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Lift the smooth bottle with red lid with the right arm and shake it.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Grab the medium dark brown bottle with the right arm and shake.", + "Grab the bottle with ridges on bottom using the right arm, then shake.", + "Lift the smooth bottle with red lid with the right arm and shake.", + "Hold the narrow-necked bottle with the right arm and shake lightly.", + "Using the right arm, shake the narrow-necked bottle and then place it back.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Pick up the medium dark brown bottle and shake it well.", + "Lift the bottle with white neck and red top and shake it gently.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Shake the plastic drink bottle after lifting it.", + "Use the right arm to grab the bottle with ridges on bottom and shake properly.", + "Utilize the right arm to hold the Coca-Cola bottle and shake it.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Hold the brown bottle with red label and shake it properly.", + "Grip the bottle with ridges on bottom using the right arm and shake.", + "Pick the long thin bottle, shake it with the right arm.", + "Catch the narrow-necked bottle and shake it instantly.", + "Use the right arm to hold the smooth bottle with red lid and shake it.", + "Grab the long thin bottle carefully and shake.", + "Shake the long thin bottle after grabbing it.", + "Hold the narrow-necked bottle, shake it briefly.", + "Shake the plastic drink bottle using the right arm after grabbing.", + "Hold the medium dark brown bottle steady, then shake it.", + "With the right arm, pick the bottle with white neck and red top and shake properly.", + "Grab the plastic drink bottle and give it a shake.", + "Pick the red-capped bottle and perform shaking motion.", + "Pick up the red-capped bottle and shake it.", + "Shake the bottle with white neck and red top after grabbing it.", + "Take the long thin bottle using the right arm and give it a shake.", + "Lift up the brown bottle with red label using the right arm, then shake.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Grasp the long thin bottle with the right arm and shake it.", + "Grab the red-capped bottle and move it to shake.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Secure the plastic drink bottle and perform a shake.", + "Pick the dark drink bottle with logo up using the right arm and shake it.", + "Pick the hand-sized soda bottle up with the right arm and shake.", + "Grab and shake the medium dark brown bottle using the right arm.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Use the right arm to pick and shake the brown bottle with red label.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Use the right arm to grab the brown bottle with red label and shake it.", + "Shake the plastic drink bottle after grabbing it.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Hold and shake the the long thin bottle carefully.", + "Lift the bottle with ridges on bottom with the right arm and shake it.", + "Use the right arm to lift and shake the long thin bottle.", + "Grab the dark drink bottle with logo with the right arm and shake.", + "Grab the dark drink bottle with logo using the right arm, then shake.", + "Lift the Coca-Cola bottle with the right arm and shake.", + "Hold the dark drink bottle with logo with the right arm and shake lightly.", + "Using the right arm, shake the narrow-necked bottle and then place it back.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Pick up the smooth bottle with red lid and shake it well.", + "Lift the medium dark brown bottle and shake it gently.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Shake the bottle with white neck and red top after lifting it.", + "Use the right arm to grab the dark drink bottle with logo and shake properly.", + "Utilize the right arm to hold the long thin bottle and shake it.", + "Lift the hand-sized soda bottle with the right arm and give it a shake.", + "Hold the hand-sized soda bottle and shake it properly.", + "Grip the medium dark brown bottle using the right arm and shake.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Catch the narrow-necked bottle and shake it instantly." + ], + "unseen": [ + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode111.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode111.json new file mode 100644 index 0000000000000000000000000000000000000000..e65394f7c15e7c53f1b503317d4a30e1f6f31518 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode111.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the green bottle with indented base.", + "Shake the medium green bottle firmly after grabbing.", + "Lift the green bottle with indented base with the left arm and give it a shake.", + "Pick the smooth green bottle and perform shaking motion.", + "Grab the bottle with ridges near base and move it to shake.", + "Hold the handheld green bottle, shake it briefly.", + "Shake the green bottle with indented base after holding it firmly.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Shake the the bottle with narrow top properly after lifting.", + "Pick up the smooth green plastic bottle and shake it.", + "Hold the bottle with ridges near base with the left arm and shake lightly.", + "Lift the handheld green bottle with the left arm and shake.", + "Lift the medium-sized green bottle and shake it gently.", + "Take the smooth green plastic bottle using the left arm and give it a shake.", + "With the left arm, pick the smooth green bottle and shake properly.", + "Hold the medium-sized green bottle steady, then shake it.", + "Secure the smooth green plastic bottle and perform a shake.", + "Use the left arm to grab the bottle with narrow top and shake it.", + "Use the left arm to pick and shake the bottle with ridges near base.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Lift the handheld green bottle with the left arm and shake it.", + "Grab the smooth green bottle and shake it steadily.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Hold and shake the the medium-sized green bottle carefully.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Shake the bottle with rounded neck after grabbing it.", + "Grab the smooth green bottle with the left arm and shake.", + "Utilize the left arm to hold the bottle with ridges near base and shake it.", + "Lift up the medium-sized green bottle using the left arm, then shake.", + "Pick the medium green bottle up using the left arm and shake it.", + "Use the left arm to hold the medium green bottle with capped neck and shake it.", + "Shake the handheld green bottle using the left arm after grabbing.", + "Grab the medium-sized green bottle using the left arm, then shake.", + "Shake the bottle with ridges near base after grabbing it.", + "Using the left arm, shake the bottle with white printed label and then place it back.", + "Pick the medium green bottle with capped neck up with the left arm and shake.", + "Grab the plastic bottle carefully and shake.", + "Use the left arm to grab the medium green bottle with capped neck and shake properly.", + "Grasp the smooth green bottle with the left arm and shake it.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Grip the bottle with white printed label using the left arm and shake.", + "Catch the handheld green bottle and shake it instantly.", + "Pick the medium green bottle, shake it with the left arm.", + "Grab and shake the bottle with white printed label using the left arm.", + "Shake the smooth green bottle after lifting it.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Grab the medium green bottle and give it a shake.", + "Hold the smooth green bottle and shake it properly.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Shake the medium green bottle firmly after grabbing.", + "Lift the bottle with narrow top with the left arm and give it a shake.", + "Pick the bottle with narrow top and perform shaking motion.", + "Grab the bottle with narrow top and move it to shake.", + "Hold the medium-sized green bottle, shake it briefly.", + "Shake the bottle with ridges near base after holding it firmly.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the the bottle with ridges near base properly after lifting.", + "Pick up the green bottle with indented base and shake it.", + "Hold the medium-sized green bottle with the left arm and shake lightly.", + "Lift the medium green bottle with the left arm and shake.", + "Lift the smooth green bottle and shake it gently.", + "Take the medium-sized green bottle using the left arm and give it a shake.", + "With the left arm, pick the smooth green plastic bottle and shake properly.", + "Hold the bottle with ridges near base steady, then shake it.", + "Secure the green bottle with indented base and perform a shake.", + "Use the left arm to grab the smooth green bottle and shake it.", + "Use the left arm to pick and shake the smooth green bottle.", + "Shake the bottle with narrow top after grabbing it.", + "Lift the handheld green bottle with the left arm and shake it.", + "Grab the medium green bottle and shake it steadily.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Hold and shake the the medium green bottle carefully.", + "Pick up the bottle with ridges near base and shake it well.", + "Shake the green bottle with indented base after grabbing it.", + "Grab the medium-sized green bottle with the left arm and shake.", + "Utilize the left arm to hold the smooth green bottle and shake it.", + "Lift up the medium-sized green bottle using the left arm, then shake.", + "Pick the green bottle with indented base up using the left arm and shake it.", + "Use the left arm to hold the bottle with ridges near base and shake it.", + "Shake the bottle with ridges near base using the left arm after grabbing.", + "Grab the plastic bottle using the left arm, then shake.", + "Shake the handheld green bottle after grabbing it.", + "Using the left arm, shake the bottle with ridges near base and then place it back.", + "Pick the medium green bottle up with the left arm and shake.", + "Grab the smooth green plastic bottle carefully and shake.", + "Use the left arm to grab the medium green bottle with capped neck and shake properly.", + "Grasp the bottle with rounded neck with the left arm and shake it.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Grip the bottle with white printed label using the left arm and shake.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Grab and shake the bottle with white printed label using the left arm.", + "Shake the handheld green bottle after lifting it.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Grab the plastic bottle and give it a shake.", + "Hold the bottle with rounded neck and shake it properly.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Secure the medium-sized green bottle, shake it, and place it down." + ], + "unseen": [ + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode112.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode112.json new file mode 100644 index 0000000000000000000000000000000000000000..2848fb2a5605e57c954755d60674f2915ce0933e --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode112.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the narrow-necked bottle with the right arm and shake it.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Hold the brown bottle with red label, shake it briefly.", + "Grab the hand-sized soda bottle with the right arm and shake.", + "Shake the long thin bottle after grabbing it.", + "Grip the plastic drink bottle using the right arm and shake.", + "Use the right arm to hold the dark drink bottle with logo and shake it.", + "Shake the medium dark brown bottle after holding it firmly.", + "Grab the plastic drink bottle using the right arm, then shake.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Pick up the plastic drink bottle and shake it.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Lift the smooth bottle with red lid with the right arm and shake it.", + "Shake the long thin bottle after lifting it.", + "Pick up the dark drink bottle with logo and shake it well.", + "Secure the Coca-Cola bottle and perform a shake.", + "Use the right arm to grab the dark drink bottle with logo and shake properly.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Lift the narrow-necked bottle with the right arm and shake.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Pick the hand-sized soda bottle up using the right arm and shake it.", + "Lift up the medium dark brown bottle using the right arm, then shake.", + "Grab the long thin bottle carefully and shake.", + "Utilize the right arm to hold the plastic drink bottle and shake it.", + "Grab the brown bottle with red label and move it to shake.", + "Grab and shake the Coca-Cola bottle using the right arm.", + "Pick the bottle with ridges on bottom, shake it with the right arm.", + "Hold the plastic drink bottle steady, then shake it.", + "Lift the narrow-necked bottle and shake it gently.", + "Take the smooth bottle with red lid using the right arm and give it a shake.", + "Use the right arm to grab the bottle with ridges on bottom and shake it.", + "Using the right arm, shake the bottle with white neck and red top and then place it back.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Shake the plastic drink bottle firmly after grabbing.", + "Use the right arm to pick and shake the Coca-Cola bottle.", + "Grab the plastic drink bottle and give it a shake.", + "Lift the brown bottle with red label and shake it thoroughly.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Hold the bottle with white neck and red top with the right arm and shake lightly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Shake the long thin bottle using the right arm after grabbing.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Pick the bottle with white neck and red top up with the right arm and shake.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Hold the bottle with white neck and red top and shake it properly.", + "Lift the dark drink bottle with logo with the right arm and give it a shake.", + "Shake the brown bottle with red label after grabbing it.", + "Grasp the long thin bottle with the right arm and shake it.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Hold the plastic drink bottle, shake it briefly.", + "Grab the Coca-Cola bottle with the right arm and shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Grip the narrow-necked bottle using the right arm and shake.", + "Use the right arm to hold the medium dark brown bottle and shake it.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Grab the dark drink bottle with logo using the right arm, then shake.", + "Use the right arm to lift and shake the red-capped bottle.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Pick up the long thin bottle and shake it.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Lift the Coca-Cola bottle with the right arm and shake it.", + "Shake the plastic drink bottle after lifting it.", + "Pick up the smooth bottle with red lid and shake it well.", + "Secure the narrow-necked bottle and perform a shake.", + "Use the right arm to grab the Coca-Cola bottle and shake properly.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Lift the narrow-necked bottle with the right arm and shake.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Pick the dark drink bottle with logo up using the right arm and shake it.", + "Lift up the narrow-necked bottle using the right arm, then shake.", + "Grab the medium dark brown bottle carefully and shake.", + "Utilize the right arm to hold the brown bottle with red label and shake it.", + "Grab the dark drink bottle with logo and move it to shake.", + "Grab and shake the plastic drink bottle using the right arm.", + "Pick the Coca-Cola bottle, shake it with the right arm.", + "Hold the brown bottle with red label steady, then shake it.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Take the Coca-Cola bottle using the right arm and give it a shake.", + "Use the right arm to grab the red-capped bottle and shake it.", + "Using the right arm, shake the long thin bottle and then place it back.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Use the right arm to pick and shake the bottle with white neck and red top.", + "Grab the red-capped bottle and give it a shake.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "With the right arm, pick the hand-sized soda bottle and shake properly.", + "Shake the the plastic drink bottle properly after lifting.", + "Hold the brown bottle with red label with the right arm and shake lightly.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the long thin bottle using the right arm after grabbing.", + "Catch the narrow-necked bottle and shake it instantly.", + "Pick the dark drink bottle with logo up with the right arm and shake.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Hold the smooth bottle with red lid and shake it properly.", + "Lift the red-capped bottle with the right arm and give it a shake.", + "Shake the plastic drink bottle after grabbing it." + ], + "unseen": [ + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode113.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode113.json new file mode 100644 index 0000000000000000000000000000000000000000..00fc09b2ab5a87c2efd0eec219c34f1e9f073cdf --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode113.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the hand-sized soda bottle and shake properly.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Hold and shake the the plastic drink bottle carefully.", + "Take the brown bottle with red label using the right arm and give it a shake.", + "Lift the bottle with white neck and red top with the right arm and shake.", + "Use the right arm to grab the plastic drink bottle and shake it.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Grab the long thin bottle and shake it steadily.", + "Hold the hand-sized soda bottle with the right arm and shake lightly.", + "Grasp the brown bottle with red label with the right arm and shake it.", + "Use the right arm to lift and shake the long thin bottle.", + "Lift the long thin bottle and shake it gently.", + "Shake the plastic drink bottle after lifting it.", + "Utilize the right arm to hold the brown bottle with red label and shake it.", + "Shake the narrow-necked bottle after holding it firmly.", + "Shake the brown bottle with red label after grabbing it.", + "Secure the plastic drink bottle and perform a shake.", + "Lift up the long thin bottle using the right arm, then shake.", + "Use the right arm to pick and shake the long thin bottle.", + "Pick up the hand-sized soda bottle and shake it well.", + "Lift the smooth bottle with red lid with the right arm and shake it.", + "Grab the long thin bottle with the right arm and shake.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Pick the bottle with white neck and red top, shake it with the right arm.", + "Grab the bottle with white neck and red top and move it to shake.", + "Grab the Coca-Cola bottle using the right arm, then shake.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Grab the Coca-Cola bottle carefully and shake.", + "Pick the brown bottle with red label up using the right arm and shake it.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Shake the long thin bottle after grabbing it.", + "Shake the narrow-necked bottle using the right arm after grabbing.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Pick the bottle with white neck and red top up with the right arm and shake.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the the smooth bottle with red lid properly after lifting.", + "With the right arm, pick the brown bottle with red label and shake properly.", + "Use the right arm to hold the Coca-Cola bottle and shake it.", + "Catch the long thin bottle and shake it instantly.", + "Using the right arm, shake the hand-sized soda bottle and then place it back.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Grab the bottle with white neck and red top and give it a shake.", + "Grab and shake the brown bottle with red label using the right arm.", + "Pick up the medium dark brown bottle and shake it.", + "Use the right arm to grab the bottle with ridges on bottom and shake properly.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Take the long thin bottle using the right arm and give it a shake.", + "Lift the brown bottle with red label with the right arm and shake.", + "Use the right arm to grab the long thin bottle and shake it.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Hold the Coca-Cola bottle with the right arm and shake lightly.", + "Grasp the red-capped bottle with the right arm and shake it.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Lift the hand-sized soda bottle and shake it gently.", + "Shake the bottle with white neck and red top after lifting it.", + "Utilize the right arm to hold the long thin bottle and shake it.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Shake the narrow-necked bottle after grabbing it.", + "Secure the plastic drink bottle and perform a shake.", + "Lift up the plastic drink bottle using the right arm, then shake.", + "Use the right arm to pick and shake the dark drink bottle with logo.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Lift the Coca-Cola bottle with the right arm and shake it.", + "Grab the dark drink bottle with logo with the right arm and shake.", + "Hold the narrow-necked bottle, shake it briefly.", + "Hold the long thin bottle steady, then shake it.", + "Pick the long thin bottle, shake it with the right arm.", + "Grab the long thin bottle and move it to shake.", + "Grab the bottle with ridges on bottom using the right arm, then shake.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Grab the medium dark brown bottle carefully and shake.", + "Pick the dark drink bottle with logo up using the right arm and shake it.", + "Pick the red-capped bottle and perform shaking motion.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the smooth bottle with red lid using the right arm after grabbing.", + "Hold the medium dark brown bottle and shake it properly.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Pick the dark drink bottle with logo up with the right arm and shake.", + "Grip the dark drink bottle with logo using the right arm and shake.", + "Lift the red-capped bottle with the right arm and give it a shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Shake the the brown bottle with red label properly after lifting.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Use the right arm to hold the bottle with white neck and red top and shake it.", + "Catch the brown bottle with red label and shake it instantly.", + "Using the right arm, shake the medium dark brown bottle and then place it back.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Grab and shake the Coca-Cola bottle using the right arm.", + "Pick up the brown bottle with red label and shake it." + ], + "unseen": [ + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode114.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode114.json new file mode 100644 index 0000000000000000000000000000000000000000..8bdf0b7981a339521304f4747722a1a4fea223a3 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode114.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the medium green bottle after grabbing it.", + "Shake the green bottle with indented base after lifting it.", + "Shake the plastic bottle after holding it firmly.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Grab the green bottle with indented base carefully and shake.", + "Hold the medium-sized green bottle with the left arm and shake lightly.", + "Pick the green bottle with indented base up with the left arm and shake.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Utilize the left arm to hold the medium green bottle with capped neck and shake it.", + "Lift the medium-sized green bottle with the left arm and shake.", + "Shake the green bottle with indented base using the left arm after grabbing.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Grab and shake the smooth green bottle using the left arm.", + "Pick the handheld green bottle, shake it with the left arm.", + "Catch the green bottle with indented base and shake it instantly.", + "Pick the plastic bottle up using the left arm and shake it.", + "Use the left arm to grab the smooth green plastic bottle and shake it.", + "Lift up the medium green bottle with capped neck using the left arm, then shake.", + "Grab the handheld green bottle with the left arm and shake.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Hold the handheld green bottle, shake it briefly.", + "Shake the smooth green bottle after grabbing it.", + "Secure the medium-sized green bottle and perform a shake.", + "Hold the plastic bottle steady, then shake it.", + "Take the bottle with narrow top using the left arm and give it a shake.", + "Grab the medium green bottle and shake it steadily.", + "Use the left arm to grab the smooth green bottle and shake properly.", + "Shake the the medium green bottle properly after lifting.", + "Grab the bottle with narrow top and move it to shake.", + "Shake the bottle with white printed label after grabbing it.", + "Lift the handheld green bottle with the left arm and shake it.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Use the left arm to hold the medium green bottle and shake it.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Lift the bottle with ridges near base and shake it gently.", + "With the left arm, pick the plastic bottle and shake properly.", + "Hold the bottle with ridges near base and shake it properly.", + "Grip the bottle with white printed label using the left arm and shake.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Grab the handheld green bottle and give it a shake.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Grasp the smooth green bottle with the left arm and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Grab the medium-sized green bottle using the left arm, then shake.", + "Using the left arm, shake the medium green bottle and then place it back.", + "Shake the plastic bottle after grabbing it.", + "Shake the handheld green bottle after lifting it.", + "Shake the bottle with ridges near base after holding it firmly.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Grab the smooth green plastic bottle carefully and shake.", + "Hold the smooth green plastic bottle with the left arm and shake lightly.", + "Pick the smooth green bottle up with the left arm and shake.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Utilize the left arm to hold the handheld green bottle and shake it.", + "Lift the smooth green bottle with the left arm and shake.", + "Shake the smooth green plastic bottle using the left arm after grabbing.", + "Pick up the bottle with ridges near base and shake it.", + "Pick up the medium green bottle and shake it well.", + "Grab and shake the handheld green bottle using the left arm.", + "Pick the handheld green bottle, shake it with the left arm.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Pick the green bottle with indented base up using the left arm and shake it.", + "Use the left arm to grab the bottle with narrow top and shake it.", + "Lift up the bottle with white printed label using the left arm, then shake.", + "Grab the medium green bottle with capped neck with the left arm and shake.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the handheld green bottle.", + "Pick the bottle with narrow top and perform shaking motion.", + "Hold the plastic bottle, shake it briefly.", + "Shake the smooth green plastic bottle after grabbing it.", + "Secure the medium green bottle and perform a shake.", + "Hold the medium-sized green bottle steady, then shake it.", + "Take the smooth green bottle using the left arm and give it a shake.", + "Grab the plastic bottle and shake it steadily.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Shake the the smooth green bottle properly after lifting.", + "Grab the bottle with ridges near base and move it to shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Lift the medium-sized green bottle with the left arm and shake it.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Use the left arm to hold the plastic bottle and shake it.", + "Shake the plastic bottle firmly after grabbing.", + "Lift the bottle with narrow top and shake it gently.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Hold the handheld green bottle and shake it properly.", + "Grip the bottle with narrow top using the left arm and shake.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Grab the medium green bottle and give it a shake.", + "Use the left arm to pick and shake the smooth green bottle.", + "Grasp the smooth green bottle with the left arm and shake it.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Hold and shake the the bottle with narrow top carefully.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Using the left arm, shake the medium green bottle and then place it back." + ], + "unseen": [ + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode115.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode115.json new file mode 100644 index 0000000000000000000000000000000000000000..cc07b5e7a396fdb3ead1fd966ff6dcac3cc36fc6 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode115.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the brown bottle with red label and perform shaking motion.", + "Grab the brown bottle with red label and move it to shake.", + "Lift the medium dark brown bottle and shake it gently.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Pick up the dark drink bottle with logo and shake it.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Use the right arm to pick and shake the smooth bottle with red lid.", + "Lift the plastic drink bottle with the right arm and give it a shake.", + "Shake the red-capped bottle after grabbing it.", + "Pick the bottle with ridges on bottom up with the right arm and shake.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Shake the dark drink bottle with logo after grabbing it.", + "Grasp the long thin bottle with the right arm and shake it.", + "Pick the red-capped bottle, shake it with the right arm.", + "Grip the long thin bottle using the right arm and shake.", + "Use the right arm to grab the narrow-necked bottle and shake it.", + "Grab the smooth bottle with red lid using the right arm, then shake.", + "Lift up the smooth bottle with red lid using the right arm, then shake.", + "Secure the dark drink bottle with logo and perform a shake.", + "Using the right arm, shake the Coca-Cola bottle and then place it back.", + "Take the dark drink bottle with logo using the right arm and give it a shake.", + "Pick the smooth bottle with red lid up using the right arm and shake it.", + "Grab the long thin bottle carefully and shake.", + "Shake the long thin bottle after holding it firmly.", + "Grab the long thin bottle and shake it steadily.", + "With the right arm, pick the narrow-necked bottle and shake properly.", + "Grab the bottle with white neck and red top with the right arm and shake.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Use the right arm to hold the dark drink bottle with logo and shake it.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Lift the bottle with ridges on bottom with the right arm and shake.", + "Hold the red-capped bottle steady, then shake it.", + "Use the right arm to grab the dark drink bottle with logo and shake properly.", + "Grab and shake the medium dark brown bottle using the right arm.", + "Shake the medium dark brown bottle after grabbing it.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Lift the hand-sized soda bottle with the right arm and shake it.", + "Hold the dark drink bottle with logo and shake it properly.", + "Utilize the right arm to hold the red-capped bottle and shake it.", + "Shake the narrow-necked bottle after lifting it.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Catch the narrow-necked bottle and shake it instantly.", + "Shake the brown bottle with red label using the right arm after grabbing.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Hold the red-capped bottle, shake it briefly.", + "Hold the red-capped bottle with the right arm and shake lightly.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Grab the Coca-Cola bottle and move it to shake.", + "Lift the bottle with white neck and red top and shake it gently.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Pick up the brown bottle with red label and shake it.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Use the right arm to pick and shake the bottle with white neck and red top.", + "Lift the smooth bottle with red lid with the right arm and give it a shake.", + "Shake the long thin bottle after grabbing it.", + "Pick the long thin bottle up with the right arm and shake.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grasp the hand-sized soda bottle with the right arm and shake it.", + "Pick the medium dark brown bottle, shake it with the right arm.", + "Grip the red-capped bottle using the right arm and shake.", + "Use the right arm to grab the narrow-necked bottle and shake it.", + "Grab the brown bottle with red label using the right arm, then shake.", + "Lift up the brown bottle with red label using the right arm, then shake.", + "Secure the long thin bottle and perform a shake.", + "Using the right arm, shake the long thin bottle and then place it back.", + "Take the Coca-Cola bottle using the right arm and give it a shake.", + "Pick the dark drink bottle with logo up using the right arm and shake it.", + "Grab the brown bottle with red label carefully and shake.", + "Shake the medium dark brown bottle after holding it firmly.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "With the right arm, pick the Coca-Cola bottle and shake properly.", + "Grab the medium dark brown bottle with the right arm and shake.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Use the right arm to hold the Coca-Cola bottle and shake it.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Lift the hand-sized soda bottle with the right arm and shake.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Use the right arm to grab the bottle with white neck and red top and shake properly.", + "Grab and shake the medium dark brown bottle using the right arm.", + "Shake the Coca-Cola bottle after grabbing it.", + "Hold and shake the the narrow-necked bottle carefully.", + "Grab the narrow-necked bottle and give it a shake.", + "Lift the hand-sized soda bottle with the right arm and shake it.", + "Hold the smooth bottle with red lid and shake it properly.", + "Utilize the right arm to hold the smooth bottle with red lid and shake it.", + "Shake the dark drink bottle with logo after lifting it.", + "Pick up the long thin bottle and shake it well.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Shake the bottle with ridges on bottom using the right arm after grabbing.", + "Use the right arm to lift and shake the red-capped bottle.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Hold the plastic drink bottle with the right arm and shake lightly." + ], + "unseen": [ + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode116.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode116.json new file mode 100644 index 0000000000000000000000000000000000000000..9b453f352a7afe487a0098195d31040fcb4f102b --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode116.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the dark drink bottle with logo and move it to shake.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Catch the long thin bottle and shake it instantly.", + "Hold the brown bottle with red label steady, then shake it.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Use the left arm to grab the bottle with ridges on bottom and shake it.", + "Grab the plastic drink bottle carefully and shake.", + "Pick the red-capped bottle up with the left arm and shake.", + "Grab the hand-sized soda bottle with the left arm and shake.", + "Pick up the medium dark brown bottle and shake it well.", + "With the left arm, pick the plastic drink bottle and shake properly.", + "Shake the hand-sized soda bottle after lifting it.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Grip the plastic drink bottle using the left arm and shake.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Grab and shake the red-capped bottle using the left arm.", + "Grab the medium dark brown bottle and give it a shake.", + "Take the bottle with white neck and red top using the left arm and give it a shake.", + "Lift up the medium dark brown bottle using the left arm, then shake.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Shake the plastic drink bottle after holding it firmly.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Lift the hand-sized soda bottle and shake it gently.", + "Grab the red-capped bottle using the left arm, then shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Pick the smooth bottle with red lid, shake it with the left arm.", + "Hold the Coca-Cola bottle and shake it properly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Shake the plastic drink bottle after grabbing it.", + "Utilize the left arm to hold the brown bottle with red label and shake it.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Lift the plastic drink bottle with the left arm and give it a shake.", + "Secure the long thin bottle and perform a shake.", + "Use the left arm to pick and shake the long thin bottle.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Pick up the dark drink bottle with logo and shake it.", + "Lift the long thin bottle with the left arm and shake it.", + "Use the left arm to grab the Coca-Cola bottle and shake properly.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Grab the hand-sized soda bottle and move it to shake.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Shake the the narrow-necked bottle properly after lifting.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Catch the narrow-necked bottle and shake it instantly.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Grab the Coca-Cola bottle carefully and shake.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Grab the brown bottle with red label with the left arm and shake.", + "Pick up the bottle with ridges on bottom and shake it well.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Shake the red-capped bottle after lifting it.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Grip the narrow-necked bottle using the left arm and shake.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Grab and shake the Coca-Cola bottle using the left arm.", + "Grab the narrow-necked bottle and give it a shake.", + "Take the red-capped bottle using the left arm and give it a shake.", + "Lift up the plastic drink bottle using the left arm, then shake.", + "Hold and shake the the narrow-necked bottle carefully.", + "Shake the brown bottle with red label after holding it firmly.", + "Hold the long thin bottle, shake it briefly.", + "Pick the red-capped bottle and perform shaking motion.", + "Lift the bottle with white neck and red top and shake it gently.", + "Grab the hand-sized soda bottle using the left arm, then shake.", + "Shake the plastic drink bottle after grabbing it.", + "Pick the smooth bottle with red lid, shake it with the left arm.", + "Hold the smooth bottle with red lid and shake it properly.", + "Shake the bottle with white neck and red top after grabbing it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Using the left arm, shake the medium dark brown bottle and then place it back.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Lift the medium dark brown bottle with the left arm and give it a shake.", + "Secure the long thin bottle and perform a shake.", + "Use the left arm to pick and shake the bottle with white neck and red top.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Pick up the brown bottle with red label and shake it.", + "Lift the dark drink bottle with logo with the left arm and shake it.", + "Use the left arm to grab the medium dark brown bottle and shake properly.", + "Grasp the Coca-Cola bottle with the left arm and shake it.", + "Shake the long thin bottle using the left arm after grabbing.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Use the left arm to hold the medium dark brown bottle and shake it." + ], + "unseen": [ + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode117.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode117.json new file mode 100644 index 0000000000000000000000000000000000000000..c07554502f18802d9beaa55b16300e95b4c2bd0a --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode117.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the medium green bottle.", + "Use the right arm to grab the medium green bottle and shake it.", + "Hold the handheld green bottle, shake it briefly.", + "Shake the medium green bottle with capped neck after lifting it.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Grab and shake the medium green bottle using the right arm.", + "Hold and shake the the smooth green bottle carefully.", + "Grab the bottle with rounded neck and give it a shake.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Shake the medium green bottle using the right arm after grabbing.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Use the right arm to grab the smooth green bottle and shake properly.", + "Lift the bottle with rounded neck and shake it gently.", + "Use the right arm to lift and shake the handheld green bottle.", + "Hold the medium green bottle with the right arm and shake lightly.", + "Pick the bottle with white printed label up with the right arm and shake.", + "Shake the bottle with ridges near base after grabbing it.", + "Lift the smooth green bottle with the right arm and give it a shake.", + "Shake the the handheld green bottle properly after lifting.", + "Pick up the green bottle with indented base and shake it.", + "Pick the plastic bottle and perform shaking motion.", + "Grab the handheld green bottle and move it to shake.", + "Utilize the right arm to hold the smooth green plastic bottle and shake it.", + "Lift up the smooth green plastic bottle using the right arm, then shake.", + "Grab the smooth green plastic bottle with the right arm and shake.", + "Take the smooth green bottle using the right arm and give it a shake.", + "Lift the medium green bottle with capped neck with the right arm and shake.", + "Pick the green bottle with indented base, shake it with the right arm.", + "Lift the smooth green plastic bottle with the right arm and shake it.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Shake the smooth green bottle firmly after grabbing.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Grab the plastic bottle and shake it steadily.", + "Use the right arm to pick and shake the bottle with rounded neck.", + "Using the right arm, shake the medium-sized green bottle and then place it back.", + "Grab the bottle with narrow top carefully and shake.", + "Pick the plastic bottle up using the right arm and shake it.", + "Catch the bottle with white printed label and shake it instantly.", + "Grip the plastic bottle using the right arm and shake.", + "Secure the smooth green bottle and perform a shake.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Hold the smooth green bottle and shake it properly.", + "Grasp the plastic bottle with the right arm and shake it.", + "Grab the bottle with rounded neck using the right arm, then shake.", + "With the right arm, pick the bottle with ridges near base and shake properly.", + "Hold the bottle with rounded neck steady, then shake it.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to hold the handheld green bottle and shake it.", + "Shake the bottle with narrow top after grabbing it.", + "Pick up the bottle with narrow top and shake it well.", + "Use the right arm to lift and shake the smooth green bottle.", + "Use the right arm to grab the medium green bottle and shake it.", + "Hold the bottle with rounded neck, shake it briefly.", + "Shake the handheld green bottle after lifting it.", + "Use the right arm to lift and shake the plastic bottle.", + "Grab and shake the bottle with white printed label using the right arm.", + "Hold and shake the the bottle with white printed label carefully.", + "Grab the smooth green bottle and give it a shake.", + "Shake the bottle with narrow top after holding it firmly.", + "Shake the smooth green plastic bottle using the right arm after grabbing.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Use the right arm to grab the medium-sized green bottle and shake properly.", + "Lift the bottle with rounded neck and shake it gently.", + "Use the right arm to lift and shake the medium green bottle.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Pick the bottle with white printed label up with the right arm and shake.", + "Shake the green bottle with indented base after grabbing it.", + "Lift the handheld green bottle with the right arm and give it a shake.", + "Shake the the bottle with rounded neck properly after lifting.", + "Pick up the smooth green plastic bottle and shake it.", + "Pick the bottle with narrow top and perform shaking motion.", + "Grab the green bottle with indented base and move it to shake.", + "Utilize the right arm to hold the bottle with rounded neck and shake it.", + "Lift up the medium green bottle with capped neck using the right arm, then shake.", + "Grab the medium green bottle with the right arm and shake.", + "Take the medium green bottle using the right arm and give it a shake.", + "Lift the bottle with white printed label with the right arm and shake.", + "Pick the bottle with ridges near base, shake it with the right arm.", + "Lift the medium green bottle with capped neck with the right arm and shake it.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Shake the bottle with narrow top firmly after grabbing.", + "Secure the handheld green bottle, shake it, and place it down.", + "Grab the plastic bottle and shake it steadily.", + "Use the right arm to pick and shake the bottle with ridges near base.", + "Using the right arm, shake the medium green bottle and then place it back.", + "Grab the plastic bottle carefully and shake.", + "Pick the smooth green plastic bottle up using the right arm and shake it.", + "Catch the plastic bottle and shake it instantly.", + "Grip the bottle with narrow top using the right arm and shake.", + "Secure the handheld green bottle and perform a shake.", + "Lift the plastic bottle and shake it thoroughly.", + "Hold the handheld green bottle and shake it properly.", + "Grasp the medium-sized green bottle with the right arm and shake it.", + "Grab the bottle with narrow top using the right arm, then shake.", + "With the right arm, pick the bottle with rounded neck and shake properly.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Shake the bottle with rounded neck after grabbing it.", + "Use the right arm to hold the medium green bottle and shake it.", + "Shake the plastic bottle after grabbing it.", + "Pick up the bottle with rounded neck and shake it well." + ], + "unseen": [ + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode118.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode118.json new file mode 100644 index 0000000000000000000000000000000000000000..2d6e62122980dcb54511f0a97b693bb291477af8 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode118.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the handheld green bottle after grabbing it.", + "Utilize the right arm to hold the smooth green plastic bottle and shake it.", + "With the right arm, pick the plastic bottle and shake properly.", + "Lift the bottle with rounded neck with the right arm and shake it.", + "Use the right arm to pick and shake the medium green bottle with capped neck.", + "Shake the green bottle with indented base firmly after grabbing.", + "Shake the medium-sized green bottle after grabbing it.", + "Shake the smooth green bottle after holding it firmly.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Lift up the handheld green bottle using the right arm, then shake.", + "Use the right arm to grab the bottle with rounded neck and shake properly.", + "Hold and shake the the bottle with ridges near base carefully.", + "Shake the the green bottle with indented base properly after lifting.", + "Hold the green bottle with indented base, shake it briefly.", + "Pick up the green bottle with indented base and shake it well.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "Grab the green bottle with indented base with the right arm and shake.", + "Use the right arm to lift and shake the handheld green bottle.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Grab the bottle with rounded neck carefully and shake.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Grasp the medium green bottle with the right arm and shake it.", + "Pick the smooth green plastic bottle up with the right arm and shake.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Secure the green bottle with indented base and perform a shake.", + "Grab the bottle with narrow top and shake it steadily.", + "Shake the smooth green plastic bottle using the right arm after grabbing.", + "Grab the handheld green bottle using the right arm, then shake.", + "Grab and shake the handheld green bottle using the right arm.", + "Hold the bottle with rounded neck steady, then shake it.", + "Hold the medium-sized green bottle and shake it properly.", + "Shake the plastic bottle after lifting it.", + "Take the bottle with rounded neck using the right arm and give it a shake.", + "Grab the handheld green bottle and give it a shake.", + "Grab the bottle with ridges near base and move it to shake.", + "Using the right arm, shake the bottle with rounded neck and then place it back.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Catch the handheld green bottle and shake it instantly.", + "Shake the medium-sized green bottle after grabbing it.", + "Lift the medium green bottle with capped neck with the right arm and give it a shake.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Pick the medium green bottle with capped neck, shake it with the right arm.", + "Use the right arm to hold the smooth green plastic bottle and shake it.", + "Lift the medium green bottle with capped neck with the right arm and shake.", + "Pick up the bottle with narrow top and shake it.", + "Lift the bottle with white printed label and shake it gently.", + "Grip the plastic bottle using the right arm and shake.", + "Pick the bottle with white printed label up using the right arm and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Utilize the right arm to hold the bottle with rounded neck and shake it.", + "With the right arm, pick the bottle with narrow top and shake properly.", + "Lift the smooth green plastic bottle with the right arm and shake it.", + "Use the right arm to pick and shake the medium green bottle with capped neck.", + "Shake the bottle with narrow top firmly after grabbing.", + "Shake the medium green bottle after grabbing it.", + "Shake the bottle with rounded neck after holding it firmly.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Lift up the smooth green plastic bottle using the right arm, then shake.", + "Use the right arm to grab the handheld green bottle and shake properly.", + "Hold and shake the the bottle with narrow top carefully.", + "Shake the the bottle with ridges near base properly after lifting.", + "Hold the medium green bottle, shake it briefly.", + "Pick up the plastic bottle and shake it well.", + "Use the right arm to grab the smooth green plastic bottle and shake it.", + "Grab the plastic bottle with the right arm and shake.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Hold the medium green bottle with the right arm and shake lightly.", + "Grab the bottle with narrow top carefully and shake.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Grasp the green bottle with indented base with the right arm and shake it.", + "Pick the medium green bottle with capped neck up with the right arm and shake.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Secure the medium-sized green bottle and perform a shake.", + "Grab the bottle with narrow top and shake it steadily.", + "Shake the bottle with rounded neck using the right arm after grabbing.", + "Grab the medium green bottle with capped neck using the right arm, then shake.", + "Grab and shake the medium green bottle with capped neck using the right arm.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Shake the bottle with rounded neck after lifting it.", + "Take the medium green bottle using the right arm and give it a shake.", + "Grab the bottle with white printed label and give it a shake.", + "Grab the medium green bottle and move it to shake.", + "Using the right arm, shake the medium green bottle and then place it back.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Catch the plastic bottle and shake it instantly.", + "Shake the bottle with white printed label after grabbing it.", + "Lift the medium green bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Pick the handheld green bottle, shake it with the right arm.", + "Use the right arm to hold the green bottle with indented base and shake it.", + "Lift the handheld green bottle with the right arm and shake.", + "Pick up the medium green bottle with capped neck and shake it.", + "Lift the green bottle with indented base and shake it gently.", + "Grip the bottle with ridges near base using the right arm and shake.", + "Pick the bottle with white printed label up using the right arm and shake it." + ], + "unseen": [ + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode119.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode119.json new file mode 100644 index 0000000000000000000000000000000000000000..2a0044c36660335d04c0a276465eba025cd6c14d --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode119.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the smooth green bottle after grabbing it.", + "Use the left arm to hold the plastic bottle and shake it.", + "Grasp the medium-sized green bottle with the left arm and shake it.", + "Lift up the medium green bottle with capped neck using the left arm, then shake.", + "Shake the smooth green bottle firmly after grabbing.", + "Pick the smooth green bottle up with the left arm and shake.", + "Take the medium green bottle using the left arm and give it a shake.", + "Use the left arm to pick and shake the plastic bottle.", + "Shake the smooth green bottle after grabbing it.", + "Lift the bottle with white printed label with the left arm and shake.", + "Grab the smooth green plastic bottle and give it a shake.", + "Hold the medium green bottle with capped neck with the left arm and shake lightly.", + "Shake the smooth green bottle after holding it firmly.", + "Use the left arm to grab the bottle with narrow top and shake it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Grab the smooth green bottle and shake it steadily.", + "Use the left arm to lift and shake the handheld green bottle.", + "Hold the bottle with white printed label and shake it properly.", + "Hold the handheld green bottle steady, then shake it.", + "Pick the medium green bottle and perform shaking motion.", + "Grab the bottle with rounded neck and move it to shake.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Shake the handheld green bottle after lifting it.", + "Lift the handheld green bottle and shake it thoroughly.", + "Grab the smooth green bottle using the left arm, then shake.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Pick the handheld green bottle up using the left arm and shake it.", + "Using the left arm, shake the medium-sized green bottle and then place it back.", + "Pick up the medium-sized green bottle and shake it.", + "Grab the plastic bottle carefully and shake.", + "Grab and shake the medium green bottle using the left arm.", + "Use the left arm to lift and shake the bottle with narrow top.", + "With the left arm, pick the green bottle with indented base and shake properly.", + "Shake the bottle with narrow top after grabbing it.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Grip the bottle with rounded neck using the left arm and shake.", + "Secure the bottle with ridges near base and perform a shake.", + "Hold the bottle with white printed label, shake it briefly.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Utilize the left arm to hold the bottle with white printed label and shake it.", + "Catch the handheld green bottle and shake it instantly.", + "Pick up the plastic bottle and shake it well.", + "Lift the green bottle with indented base and shake it gently.", + "Grab the medium-sized green bottle with the left arm and shake.", + "Shake the bottle with narrow top using the left arm after grabbing.", + "Hold and shake the the plastic bottle carefully.", + "Use the left arm to lift and shake the medium green bottle.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Shake the medium green bottle after grabbing it.", + "Use the left arm to hold the bottle with white printed label and shake it.", + "Grasp the plastic bottle with the left arm and shake it.", + "Lift up the handheld green bottle using the left arm, then shake.", + "Shake the plastic bottle firmly after grabbing.", + "Pick the medium green bottle with capped neck up with the left arm and shake.", + "Take the green bottle with indented base using the left arm and give it a shake.", + "Use the left arm to pick and shake the smooth green bottle.", + "Shake the bottle with narrow top after grabbing it.", + "Lift the medium green bottle with capped neck with the left arm and shake.", + "Grab the plastic bottle and give it a shake.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Shake the bottle with ridges near base after holding it firmly.", + "Use the left arm to grab the smooth green bottle and shake it.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Shake the the smooth green bottle properly after lifting.", + "Grab the handheld green bottle and shake it steadily.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Hold the plastic bottle and shake it properly.", + "Hold the handheld green bottle steady, then shake it.", + "Pick the handheld green bottle and perform shaking motion.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Shake the medium-sized green bottle after lifting it.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Grab the smooth green plastic bottle using the left arm, then shake.", + "Use the left arm to grab the green bottle with indented base and shake properly.", + "Lift the bottle with white printed label with the left arm and give it a shake.", + "Pick the plastic bottle up using the left arm and shake it.", + "Using the left arm, shake the bottle with narrow top and then place it back.", + "Pick up the bottle with narrow top and shake it.", + "Grab the smooth green bottle carefully and shake.", + "Grab and shake the handheld green bottle using the left arm.", + "Use the left arm to lift and shake the bottle with narrow top.", + "With the left arm, pick the smooth green bottle and shake properly.", + "Shake the bottle with white printed label after grabbing it.", + "Lift the smooth green plastic bottle with the left arm and shake it.", + "Grip the medium green bottle using the left arm and shake.", + "Secure the green bottle with indented base and perform a shake.", + "Hold the plastic bottle, shake it briefly.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Utilize the left arm to hold the smooth green plastic bottle and shake it.", + "Catch the green bottle with indented base and shake it instantly.", + "Pick up the handheld green bottle and shake it well.", + "Lift the smooth green bottle and shake it gently.", + "Grab the bottle with narrow top with the left arm and shake.", + "Shake the bottle with narrow top using the left arm after grabbing.", + "Hold and shake the the smooth green bottle carefully.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Pick the bottle with white printed label, shake it with the left arm." + ], + "unseen": [ + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode12.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..86da4fee5118ab621382ad50181b61b562c63831 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the the plastic drink bottle properly after lifting.", + "Shake the brown bottle with red label after grabbing it.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Utilize the left arm to hold the narrow-necked bottle and shake it.", + "Shake the brown bottle with red label after grabbing it.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Lift the dark drink bottle with logo and shake it gently.", + "Grab the hand-sized soda bottle using the left arm, then shake.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Hold the narrow-necked bottle with the left arm and shake lightly.", + "Lift the dark drink bottle with logo with the left arm and shake.", + "Grab the narrow-necked bottle and give it a shake.", + "Hold the Coca-Cola bottle and shake it properly.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Shake the long thin bottle using the left arm after grabbing.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Shake the red-capped bottle after holding it firmly.", + "Lift up the hand-sized soda bottle using the left arm, then shake.", + "With the left arm, pick the long thin bottle and shake properly.", + "Grasp the long thin bottle with the left arm and shake it.", + "Grab the medium dark brown bottle carefully and shake.", + "Secure the plastic drink bottle and perform a shake.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Pick up the bottle with ridges on bottom and shake it.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "Grab the plastic drink bottle with the left arm and shake.", + "Using the left arm, shake the red-capped bottle and then place it back.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Hold the medium dark brown bottle steady, then shake it.", + "Shake the bottle with ridges on bottom after lifting it.", + "Grip the medium dark brown bottle using the left arm and shake.", + "Use the left arm to grab the long thin bottle and shake properly.", + "Pick the narrow-necked bottle up with the left arm and shake.", + "Pick up the smooth bottle with red lid and shake it well.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Catch the plastic drink bottle and shake it instantly.", + "Hold and shake the the red-capped bottle carefully.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Pick the hand-sized soda bottle up using the left arm and shake it.", + "Grab the plastic drink bottle and shake it steadily.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Pick the bottle with ridges on bottom, shake it with the left arm.", + "Lift the brown bottle with red label with the left arm and give it a shake.", + "Use the left arm to grab the brown bottle with red label and shake it.", + "Use the left arm to hold the brown bottle with red label and shake it.", + "Take the medium dark brown bottle using the left arm and give it a shake.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Shake the plastic drink bottle after grabbing it.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Utilize the left arm to hold the Coca-Cola bottle and shake it.", + "Shake the narrow-necked bottle after grabbing it.", + "Use the left arm to lift and shake the red-capped bottle.", + "Lift the medium dark brown bottle and shake it gently.", + "Grab the hand-sized soda bottle using the left arm, then shake.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Hold the brown bottle with red label with the left arm and shake lightly.", + "Lift the Coca-Cola bottle with the left arm and shake.", + "Grab the plastic drink bottle and give it a shake.", + "Hold the Coca-Cola bottle and shake it properly.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Grab and shake the brown bottle with red label using the left arm.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Shake the brown bottle with red label after holding it firmly.", + "Lift up the narrow-necked bottle using the left arm, then shake.", + "With the left arm, pick the dark drink bottle with logo and shake properly.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Grab the bottle with white neck and red top and move it to shake.", + "Pick up the red-capped bottle and shake it.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Grab the long thin bottle with the left arm and shake.", + "Using the left arm, shake the red-capped bottle and then place it back.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Shake the narrow-necked bottle after lifting it.", + "Grip the medium dark brown bottle using the left arm and shake.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Pick the plastic drink bottle up with the left arm and shake.", + "Pick up the hand-sized soda bottle and shake it well.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Catch the red-capped bottle and shake it instantly.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Shake the dark drink bottle with logo after grabbing it.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Pick the smooth bottle with red lid up using the left arm and shake it.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Lift the long thin bottle with the left arm and shake it.", + "Pick the smooth bottle with red lid, shake it with the left arm.", + "Lift the plastic drink bottle with the left arm and give it a shake.", + "Use the left arm to grab the narrow-necked bottle and shake it.", + "Use the left arm to hold the narrow-necked bottle and shake it.", + "Take the brown bottle with red label using the left arm and give it a shake.", + "Use the left arm to pick and shake the bottle with ridges on bottom." + ], + "unseen": [ + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode120.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode120.json new file mode 100644 index 0000000000000000000000000000000000000000..7685182754358f4285aa6e2c95f4ebecceaa9870 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode120.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the bottle with white printed label using the right arm and give it a shake.", + "Lift the bottle with narrow top with the right arm and shake.", + "Hold the smooth green bottle, shake it briefly.", + "Grab the bottle with ridges near base and shake it steadily.", + "Shake the the bottle with ridges near base properly after lifting.", + "Grab and shake the handheld green bottle using the right arm.", + "Grab the bottle with ridges near base with the right arm and shake.", + "Use the right arm to hold the bottle with narrow top and shake it.", + "Use the right arm to pick and shake the green bottle with indented base.", + "Pick up the plastic bottle and shake it.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Pick up the bottle with white printed label and shake it well.", + "Pick the bottle with white printed label and perform shaking motion.", + "Shake the medium green bottle using the right arm after grabbing.", + "Shake the plastic bottle after grabbing it.", + "Shake the smooth green bottle after lifting it.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Secure the bottle with ridges near base and perform a shake.", + "Utilize the right arm to hold the handheld green bottle and shake it.", + "Pick the medium green bottle up with the right arm and shake.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Hold the medium green bottle and shake it properly.", + "Grab the bottle with rounded neck carefully and shake.", + "Grip the plastic bottle using the right arm and shake.", + "Catch the plastic bottle and shake it instantly.", + "Use the right arm to grab the medium green bottle with capped neck and shake it.", + "Hold and shake the the plastic bottle carefully.", + "Grab the smooth green plastic bottle using the right arm, then shake.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Shake the medium-sized green bottle after holding it firmly.", + "Pick the bottle with white printed label, shake it with the right arm.", + "Hold the medium green bottle steady, then shake it.", + "Lift the bottle with rounded neck and shake it gently.", + "With the right arm, pick the bottle with white printed label and shake properly.", + "Grasp the bottle with rounded neck with the right arm and shake it.", + "Use the right arm to grab the smooth green plastic bottle and shake properly.", + "Lift up the medium green bottle using the right arm, then shake.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Shake the bottle with rounded neck after grabbing it.", + "Grab the green bottle with indented base and give it a shake.", + "Grab the plastic bottle and move it to shake.", + "Lift the medium-sized green bottle with the right arm and shake it.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Secure the handheld green bottle, shake it, and place it down.", + "Using the right arm, shake the medium green bottle with capped neck and then place it back.", + "Shake the bottle with narrow top after grabbing it.", + "Pick the medium green bottle with capped neck up using the right arm and shake it.", + "Use the right arm to lift and shake the plastic bottle.", + "Take the plastic bottle using the right arm and give it a shake.", + "Lift the bottle with narrow top with the right arm and shake.", + "Hold the green bottle with indented base, shake it briefly.", + "Grab the green bottle with indented base and shake it steadily.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Grab and shake the bottle with rounded neck using the right arm.", + "Grab the green bottle with indented base with the right arm and shake.", + "Use the right arm to hold the bottle with rounded neck and shake it.", + "Use the right arm to pick and shake the bottle with rounded neck.", + "Pick up the plastic bottle and shake it.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Pick up the bottle with narrow top and shake it well.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Shake the medium green bottle with capped neck using the right arm after grabbing.", + "Shake the bottle with white printed label after grabbing it.", + "Shake the handheld green bottle after lifting it.", + "Use the right arm to lift and shake the medium green bottle.", + "Secure the bottle with ridges near base and perform a shake.", + "Utilize the right arm to hold the medium green bottle and shake it.", + "Pick the smooth green bottle up with the right arm and shake.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Hold the green bottle with indented base with the right arm and shake lightly.", + "Hold the bottle with ridges near base and shake it properly.", + "Grab the green bottle with indented base carefully and shake.", + "Grip the smooth green plastic bottle using the right arm and shake.", + "Catch the medium-sized green bottle and shake it instantly.", + "Use the right arm to grab the plastic bottle and shake it.", + "Hold and shake the the green bottle with indented base carefully.", + "Grab the smooth green bottle using the right arm, then shake.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Shake the bottle with rounded neck after holding it firmly.", + "Pick the smooth green bottle, shake it with the right arm.", + "Hold the handheld green bottle steady, then shake it.", + "Lift the smooth green plastic bottle and shake it gently.", + "With the right arm, pick the green bottle with indented base and shake properly.", + "Grasp the medium-sized green bottle with the right arm and shake it.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Lift up the medium green bottle using the right arm, then shake.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Shake the bottle with ridges near base after grabbing it.", + "Grab the handheld green bottle and give it a shake.", + "Grab the smooth green bottle and move it to shake.", + "Lift the bottle with narrow top with the right arm and shake it.", + "Lift the bottle with white printed label with the right arm and give it a shake.", + "Secure the smooth green bottle, shake it, and place it down.", + "Using the right arm, shake the green bottle with indented base and then place it back.", + "Shake the bottle with narrow top after grabbing it.", + "Pick the bottle with rounded neck up using the right arm and shake it.", + "Use the right arm to lift and shake the green bottle with indented base." + ], + "unseen": [ + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode121.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode121.json new file mode 100644 index 0000000000000000000000000000000000000000..afb22c1e1d79e48d76f95d56a29742ec5a3822d1 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode121.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the bottle with rounded neck.", + "With the left arm, pick the bottle with white printed label and shake properly.", + "Hold and shake the the green bottle with indented base carefully.", + "Secure the smooth green bottle, shake it, and place it down.", + "Secure the plastic bottle and perform a shake.", + "Shake the bottle with white printed label using the left arm after grabbing.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Shake the smooth green plastic bottle after lifting it.", + "Shake the handheld green bottle after grabbing it.", + "Shake the the medium green bottle properly after lifting.", + "Grab the smooth green bottle and shake it steadily.", + "Using the left arm, shake the smooth green bottle and then place it back.", + "Take the bottle with rounded neck using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to grab the bottle with white printed label and shake properly.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Hold the bottle with ridges near base, shake it briefly.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Lift the handheld green bottle and shake it gently.", + "Shake the bottle with ridges near base after holding it firmly.", + "Use the left arm to grab the medium-sized green bottle and shake it.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Grip the bottle with narrow top using the left arm and shake.", + "Pick up the smooth green plastic bottle and shake it.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Hold the smooth green bottle with the left arm and shake lightly.", + "Pick the bottle with white printed label and perform shaking motion.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Lift up the handheld green bottle using the left arm, then shake.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Grab and shake the plastic bottle using the left arm.", + "Grab the medium green bottle and give it a shake.", + "Lift the handheld green bottle with the left arm and shake it.", + "Pick up the bottle with rounded neck and shake it well.", + "Grasp the medium-sized green bottle with the left arm and shake it.", + "Shake the plastic bottle after grabbing it.", + "Shake the medium green bottle firmly after grabbing.", + "Pick the smooth green plastic bottle, shake it with the left arm.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Pick the bottle with ridges near base up using the left arm and shake it.", + "Use the left arm to hold the green bottle with indented base and shake it.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Use the left arm to pick and shake the medium green bottle.", + "Utilize the left arm to hold the medium-sized green bottle and shake it.", + "Lift the bottle with ridges near base with the left arm and shake.", + "Grab the smooth green plastic bottle with the left arm and shake.", + "Pick the medium green bottle up with the left arm and shake.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Use the left arm to lift and shake the green bottle with indented base.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Hold and shake the the bottle with narrow top carefully.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Secure the medium green bottle and perform a shake.", + "Shake the smooth green bottle using the left arm after grabbing.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Shake the smooth green plastic bottle after lifting it.", + "Shake the plastic bottle after grabbing it.", + "Shake the the green bottle with indented base properly after lifting.", + "Grab the bottle with white printed label and shake it steadily.", + "Using the left arm, shake the green bottle with indented base and then place it back.", + "Take the bottle with narrow top using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Shake the smooth green bottle after grabbing it.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Hold the plastic bottle, shake it briefly.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Shake the green bottle with indented base after holding it firmly.", + "Use the left arm to grab the plastic bottle and shake it.", + "Hold the smooth green bottle steady, then shake it.", + "Grip the green bottle with indented base using the left arm and shake.", + "Pick up the plastic bottle and shake it.", + "Grab the bottle with narrow top and move it to shake.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Hold the bottle with narrow top with the left arm and shake lightly.", + "Pick the smooth green bottle and perform shaking motion.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Lift up the green bottle with indented base using the left arm, then shake.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Grab and shake the smooth green plastic bottle using the left arm.", + "Grab the bottle with white printed label and give it a shake.", + "Lift the handheld green bottle with the left arm and shake it.", + "Pick up the bottle with narrow top and shake it well.", + "Grasp the green bottle with indented base with the left arm and shake it.", + "Shake the medium green bottle after grabbing it.", + "Shake the bottle with white printed label firmly after grabbing.", + "Pick the plastic bottle, shake it with the left arm.", + "Use the left arm to lift and shake the plastic bottle.", + "Pick the medium green bottle up using the left arm and shake it.", + "Use the left arm to hold the medium green bottle with capped neck and shake it.", + "Grab the bottle with narrow top carefully and shake.", + "Use the left arm to pick and shake the bottle with narrow top.", + "Utilize the left arm to hold the bottle with rounded neck and shake it.", + "Lift the bottle with narrow top with the left arm and shake.", + "Grab the bottle with narrow top with the left arm and shake.", + "Pick the bottle with ridges near base up with the left arm and shake.", + "Hold the bottle with white printed label and shake it properly." + ], + "unseen": [ + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode122.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode122.json new file mode 100644 index 0000000000000000000000000000000000000000..498def4387228c6407a81513aa6f124b63303120 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode122.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the bottle with white printed label, shake it with the right arm.", + "Pick the plastic bottle and perform shaking motion.", + "Grasp the medium-sized green bottle with the right arm and shake it.", + "Pick up the smooth green bottle and shake it well.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Shake the smooth green bottle firmly after grabbing.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Grip the bottle with rounded neck using the right arm and shake.", + "Catch the plastic bottle and shake it instantly.", + "Utilize the right arm to hold the smooth green plastic bottle and shake it.", + "Hold and shake the the bottle with rounded neck carefully.", + "Shake the the plastic bottle properly after lifting.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Pick the bottle with rounded neck up with the right arm and shake.", + "Shake the medium-sized green bottle after holding it firmly.", + "Use the right arm to grab the bottle with white printed label and shake it.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Use the right arm to pick and shake the medium green bottle with capped neck.", + "Shake the medium-sized green bottle after grabbing it.", + "Lift the bottle with ridges near base with the right arm and give it a shake.", + "Pick the handheld green bottle up using the right arm and shake it.", + "Grab the bottle with ridges near base carefully and shake.", + "Use the right arm to grab the bottle with white printed label and shake properly.", + "Lift up the medium green bottle using the right arm, then shake.", + "Shake the handheld green bottle after grabbing it.", + "Grab and shake the handheld green bottle using the right arm.", + "Grab the plastic bottle using the right arm, then shake.", + "Shake the smooth green plastic bottle after grabbing it.", + "Lift the smooth green plastic bottle and shake it gently.", + "Grab the plastic bottle and move it to shake.", + "Shake the green bottle with indented base using the right arm after grabbing.", + "Use the right arm to hold the bottle with ridges near base and shake it.", + "With the right arm, pick the bottle with narrow top and shake properly.", + "Lift the plastic bottle with the right arm and shake it.", + "Using the right arm, shake the smooth green bottle and then place it back.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Lift the smooth green bottle with the right arm and shake.", + "Take the bottle with narrow top using the right arm and give it a shake.", + "Shake the bottle with rounded neck after lifting it.", + "Hold the bottle with ridges near base and shake it properly.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Secure the smooth green bottle and perform a shake.", + "Hold the smooth green bottle, shake it briefly.", + "Grab the smooth green bottle and give it a shake.", + "Grab the medium green bottle with capped neck with the right arm and shake.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the smooth green bottle.", + "Grab the plastic bottle and shake it steadily.", + "Pick the green bottle with indented base, shake it with the right arm.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Grasp the medium green bottle with the right arm and shake it.", + "Pick up the plastic bottle and shake it well.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Shake the plastic bottle firmly after grabbing.", + "Lift the plastic bottle and shake it thoroughly.", + "Grip the handheld green bottle using the right arm and shake.", + "Catch the handheld green bottle and shake it instantly.", + "Utilize the right arm to hold the handheld green bottle and shake it.", + "Hold and shake the the medium green bottle carefully.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Secure the medium green bottle, shake it, and place it down.", + "Pick the medium-sized green bottle up with the right arm and shake.", + "Shake the medium-sized green bottle after holding it firmly.", + "Use the right arm to grab the medium green bottle with capped neck and shake it.", + "Hold the medium green bottle steady, then shake it.", + "Use the right arm to pick and shake the bottle with ridges near base.", + "Shake the plastic bottle after grabbing it.", + "Lift the bottle with rounded neck with the right arm and give it a shake.", + "Pick the bottle with narrow top up using the right arm and shake it.", + "Grab the bottle with narrow top carefully and shake.", + "Use the right arm to grab the bottle with rounded neck and shake properly.", + "Lift up the plastic bottle using the right arm, then shake.", + "Shake the bottle with narrow top after grabbing it.", + "Grab and shake the medium green bottle with capped neck using the right arm.", + "Grab the bottle with narrow top using the right arm, then shake.", + "Shake the green bottle with indented base after grabbing it.", + "Lift the bottle with ridges near base and shake it gently.", + "Grab the bottle with white printed label and move it to shake.", + "Shake the plastic bottle using the right arm after grabbing.", + "Use the right arm to hold the bottle with rounded neck and shake it.", + "With the right arm, pick the handheld green bottle and shake properly.", + "Lift the medium green bottle with capped neck with the right arm and shake it.", + "Using the right arm, shake the bottle with rounded neck and then place it back.", + "Use the right arm to lift and shake the medium green bottle.", + "Lift the bottle with narrow top with the right arm and shake.", + "Take the medium green bottle with capped neck using the right arm and give it a shake.", + "Shake the medium-sized green bottle after lifting it.", + "Hold the smooth green plastic bottle and shake it properly.", + "Pick up the green bottle with indented base and shake it.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Hold the bottle with ridges near base with the right arm and shake lightly.", + "Secure the bottle with narrow top and perform a shake.", + "Hold the green bottle with indented base, shake it briefly.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Grab the green bottle with indented base with the right arm and shake.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the plastic bottle.", + "Grab the bottle with narrow top and shake it steadily." + ], + "unseen": [ + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode123.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode123.json new file mode 100644 index 0000000000000000000000000000000000000000..ab48c5b51e210c0a97e0920e29a1bb5148282ace --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode123.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the left arm, shake the smooth bottle with red lid and then place it back.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Shake the plastic drink bottle after grabbing it.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Pick the long thin bottle, shake it with the left arm.", + "Pick up the plastic drink bottle and shake it.", + "Use the left arm to grab the brown bottle with red label and shake it.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Shake the bottle with ridges on bottom after lifting it.", + "Use the left arm to hold the bottle with white neck and red top and shake it.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Use the left arm to lift and shake the long thin bottle.", + "Lift the brown bottle with red label with the left arm and shake.", + "Lift the bottle with white neck and red top with the left arm and shake it.", + "Utilize the left arm to hold the dark drink bottle with logo and shake it.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Grab the plastic drink bottle and shake it steadily.", + "Lift up the Coca-Cola bottle using the left arm, then shake.", + "Grip the narrow-necked bottle using the left arm and shake.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Pick the smooth bottle with red lid up with the left arm and shake.", + "Grab the medium dark brown bottle carefully and shake.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Grab the Coca-Cola bottle with the left arm and shake.", + "Hold the medium dark brown bottle with the left arm and shake lightly.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Pick the brown bottle with red label up using the left arm and shake it.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Pick up the bottle with white neck and red top and shake it well.", + "Hold the plastic drink bottle and shake it properly.", + "Shake the long thin bottle after grabbing it.", + "Pick the red-capped bottle and perform shaking motion.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Shake the brown bottle with red label after grabbing it.", + "Lift the smooth bottle with red lid and shake it gently.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Secure the bottle with white neck and red top and perform a shake.", + "Grab the bottle with white neck and red top and give it a shake.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Grab and shake the smooth bottle with red lid using the left arm.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Use the left arm to lift and shake the red-capped bottle.", + "Using the left arm, shake the bottle with ridges on bottom and then place it back.", + "Use the left arm to pick and shake the medium dark brown bottle.", + "Shake the plastic drink bottle after grabbing it.", + "Hold the narrow-necked bottle, shake it briefly.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Shake the the narrow-necked bottle properly after lifting.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Pick the smooth bottle with red lid, shake it with the left arm.", + "Pick up the brown bottle with red label and shake it.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Shake the red-capped bottle after lifting it.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Grab the plastic drink bottle using the left arm, then shake.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Lift the brown bottle with red label with the left arm and shake.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "Utilize the left arm to hold the brown bottle with red label and shake it.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Lift up the medium dark brown bottle using the left arm, then shake.", + "Grip the bottle with ridges on bottom using the left arm and shake.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Hold and shake the the red-capped bottle carefully.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Pick the bottle with white neck and red top up with the left arm and shake.", + "Grab the red-capped bottle carefully and shake.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "Hold the narrow-necked bottle with the left arm and shake lightly.", + "Secure the red-capped bottle, shake it, and place it down.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Pick up the smooth bottle with red lid and shake it well.", + "Hold the red-capped bottle and shake it properly.", + "Shake the plastic drink bottle after grabbing it.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Catch the brown bottle with red label and shake it instantly.", + "Shake the brown bottle with red label after grabbing it.", + "Lift the brown bottle with red label and shake it gently.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Hold the narrow-necked bottle steady, then shake it.", + "Secure the hand-sized soda bottle and perform a shake.", + "Grab the long thin bottle and give it a shake.", + "Shake the red-capped bottle firmly after grabbing.", + "Grab and shake the long thin bottle using the left arm.", + "With the left arm, pick the smooth bottle with red lid and shake properly.", + "Grab the Coca-Cola bottle and move it to shake.", + "Use the left arm to lift and shake the brown bottle with red label." + ], + "unseen": [ + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode124.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode124.json new file mode 100644 index 0000000000000000000000000000000000000000..ae373ae499f5ce77bf9d61928da3a3760279b1a1 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode124.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the left arm, pick the smooth bottle with red lid and shake properly.", + "Shake the long thin bottle after lifting it.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Hold the medium dark brown bottle and shake it properly.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Grasp the bottle with white neck and red top with the left arm and shake it.", + "Pick up the hand-sized soda bottle and shake it.", + "Lift up the medium dark brown bottle using the left arm, then shake.", + "Use the left arm to pick and shake the Coca-Cola bottle.", + "Lift the long thin bottle with the left arm and give it a shake.", + "Pick the dark drink bottle with logo up with the left arm and shake.", + "Grab the plastic drink bottle and move it to shake.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Pick the plastic drink bottle and perform shaking motion.", + "Pick up the medium dark brown bottle and shake it well.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Grab and shake the Coca-Cola bottle using the left arm.", + "Shake the Coca-Cola bottle after grabbing it.", + "Pick the red-capped bottle, shake it with the left arm.", + "Hold the medium dark brown bottle, shake it briefly.", + "Lift the brown bottle with red label with the left arm and shake.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Shake the dark drink bottle with logo after grabbing it.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Utilize the left arm to hold the long thin bottle and shake it.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Shake the plastic drink bottle after holding it firmly.", + "Grab the medium dark brown bottle with the left arm and shake.", + "Grab the Coca-Cola bottle using the left arm, then shake.", + "Lift the brown bottle with red label and shake it gently.", + "Use the left arm to hold the Coca-Cola bottle and shake it.", + "Using the left arm, shake the smooth bottle with red lid and then place it back.", + "Use the left arm to lift and shake the long thin bottle.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Grip the long thin bottle using the left arm and shake.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Pick the smooth bottle with red lid up using the left arm and shake it.", + "Secure the long thin bottle and perform a shake.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Grab the smooth bottle with red lid carefully and shake.", + "Grab the medium dark brown bottle and give it a shake.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Shake the narrow-necked bottle after lifting it.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Hold the Coca-Cola bottle and shake it properly.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Pick up the smooth bottle with red lid and shake it.", + "Lift up the dark drink bottle with logo using the left arm, then shake.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Lift the narrow-necked bottle with the left arm and give it a shake.", + "Pick the medium dark brown bottle up with the left arm and shake.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Shake the the red-capped bottle properly after lifting.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Pick up the narrow-necked bottle and shake it well.", + "Use the left arm to lift and shake the red-capped bottle.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Grab and shake the Coca-Cola bottle using the left arm.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Lift the bottle with ridges on bottom with the left arm and shake.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Shake the hand-sized soda bottle after grabbing it.", + "Hold the medium dark brown bottle with the left arm and shake lightly.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "Catch the narrow-necked bottle and shake it instantly.", + "Hold the red-capped bottle steady, then shake it.", + "Utilize the left arm to hold the Coca-Cola bottle and shake it.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Shake the brown bottle with red label after holding it firmly.", + "Grab the medium dark brown bottle with the left arm and shake.", + "Grab the medium dark brown bottle using the left arm, then shake.", + "Lift the Coca-Cola bottle and shake it gently.", + "Use the left arm to hold the narrow-necked bottle and shake it.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Use the left arm to grab the plastic drink bottle and shake it.", + "Grip the medium dark brown bottle using the left arm and shake.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Secure the dark drink bottle with logo and perform a shake.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Grab the long thin bottle carefully and shake.", + "Grab the smooth bottle with red lid and give it a shake.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Shake the dark drink bottle with logo after grabbing it.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it." + ], + "unseen": [ + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode125.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode125.json new file mode 100644 index 0000000000000000000000000000000000000000..faed4774c10489faba572a61ccc9ad5ff8fdcc87 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode125.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Grab the medium green bottle and give it a shake.", + "Grab and shake the handheld green bottle using the right arm.", + "Grab the green bottle with indented base with the right arm and shake.", + "Hold the bottle with rounded neck steady, then shake it.", + "Shake the bottle with narrow top after holding it firmly.", + "Use the right arm to lift and shake the plastic bottle.", + "Lift up the medium-sized green bottle using the right arm, then shake.", + "Use the right arm to grab the medium-sized green bottle and shake it.", + "Take the medium green bottle using the right arm and give it a shake.", + "Grab the medium-sized green bottle and shake it steadily.", + "Shake the bottle with white printed label after grabbing it.", + "Catch the smooth green bottle and shake it instantly.", + "Lift the medium-sized green bottle with the right arm and give it a shake.", + "Secure the medium green bottle, shake it, and place it down.", + "Use the right arm to grab the bottle with ridges near base and shake properly.", + "Hold the medium-sized green bottle, shake it briefly.", + "Lift the bottle with narrow top with the right arm and shake.", + "Pick the medium green bottle up with the right arm and shake.", + "Shake the bottle with narrow top after grabbing it.", + "Shake the smooth green bottle using the right arm after grabbing.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Grab the plastic bottle and move it to shake.", + "Hold the smooth green bottle and shake it properly.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Secure the medium-sized green bottle and perform a shake.", + "Use the right arm to pick and shake the medium green bottle with capped neck.", + "Use the right arm to lift and shake the plastic bottle.", + "Lift the bottle with white printed label with the right arm and shake it.", + "Grasp the handheld green bottle with the right arm and shake it.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Pick up the medium green bottle and shake it well.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Grab the bottle with rounded neck using the right arm, then shake.", + "Hold and shake the the green bottle with indented base carefully.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Shake the the bottle with ridges near base properly after lifting.", + "Grip the plastic bottle using the right arm and shake.", + "Pick the smooth green plastic bottle, shake it with the right arm.", + "Pick the smooth green plastic bottle up using the right arm and shake it.", + "Pick up the medium green bottle with capped neck and shake it.", + "Hold the bottle with white printed label with the right arm and shake lightly.", + "Shake the bottle with rounded neck after grabbing it.", + "Utilize the right arm to hold the medium-sized green bottle and shake it.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Use the right arm to hold the bottle with ridges near base and shake it.", + "Shake the bottle with ridges near base after lifting it.", + "With the right arm, pick the medium-sized green bottle and shake properly.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Grab the green bottle with indented base and give it a shake.", + "Grab and shake the bottle with rounded neck using the right arm.", + "Grab the bottle with narrow top with the right arm and shake.", + "Hold the plastic bottle steady, then shake it.", + "Shake the bottle with ridges near base after holding it firmly.", + "Use the right arm to lift and shake the handheld green bottle.", + "Lift up the medium green bottle with capped neck using the right arm, then shake.", + "Use the right arm to grab the smooth green plastic bottle and shake it.", + "Take the handheld green bottle using the right arm and give it a shake.", + "Grab the bottle with narrow top and shake it steadily.", + "Shake the smooth green plastic bottle after grabbing it.", + "Catch the bottle with ridges near base and shake it instantly.", + "Lift the medium green bottle with the right arm and give it a shake.", + "Secure the handheld green bottle, shake it, and place it down.", + "Use the right arm to grab the bottle with white printed label and shake properly.", + "Hold the medium-sized green bottle, shake it briefly.", + "Lift the handheld green bottle with the right arm and shake.", + "Pick the medium-sized green bottle up with the right arm and shake.", + "Shake the bottle with white printed label after grabbing it.", + "Shake the bottle with rounded neck using the right arm after grabbing.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Grab the bottle with narrow top and move it to shake.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Secure the green bottle with indented base and perform a shake.", + "Use the right arm to pick and shake the plastic bottle.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Lift the bottle with white printed label with the right arm and shake it.", + "Grasp the medium green bottle with capped neck with the right arm and shake it.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Pick up the smooth green bottle and shake it well.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Grab the handheld green bottle using the right arm, then shake.", + "Hold and shake the the bottle with white printed label carefully.", + "Pick the handheld green bottle and perform shaking motion.", + "Using the right arm, shake the bottle with ridges near base and then place it back.", + "Shake the the bottle with rounded neck properly after lifting.", + "Grip the smooth green plastic bottle using the right arm and shake.", + "Pick the medium-sized green bottle, shake it with the right arm.", + "Pick the plastic bottle up using the right arm and shake it.", + "Pick up the smooth green bottle and shake it.", + "Hold the smooth green plastic bottle with the right arm and shake lightly.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Utilize the right arm to hold the green bottle with indented base and shake it.", + "Grab the medium green bottle carefully and shake.", + "Use the right arm to hold the medium green bottle with capped neck and shake it.", + "Shake the medium-sized green bottle after lifting it.", + "With the right arm, pick the smooth green bottle and shake properly." + ], + "unseen": [ + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode126.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode126.json new file mode 100644 index 0000000000000000000000000000000000000000..24d04a3a04495e100418812dcca8384426ecfba8 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode126.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the medium dark brown bottle.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Use the right arm to grab the red-capped bottle and shake properly.", + "Pick the red-capped bottle and perform shaking motion.", + "Grab the brown bottle with red label and move it to shake.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Use the right arm to grab the bottle with white neck and red top and shake it.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Pick the plastic drink bottle, shake it with the right arm.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Utilize the right arm to hold the hand-sized soda bottle and shake it.", + "Shake the smooth bottle with red lid after grabbing it.", + "Hold the plastic drink bottle and shake it properly.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Pick the long thin bottle up using the right arm and shake it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grab the plastic drink bottle with the right arm and shake.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "With the right arm, pick the bottle with white neck and red top and shake properly.", + "Hold the long thin bottle with the right arm and shake lightly.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Using the right arm, shake the red-capped bottle and then place it back.", + "Shake the medium dark brown bottle after holding it firmly.", + "Lift the hand-sized soda bottle with the right arm and give it a shake.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Pick up the hand-sized soda bottle and shake it well.", + "Lift the medium dark brown bottle with the right arm and shake.", + "Grasp the hand-sized soda bottle with the right arm and shake it.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Secure the medium dark brown bottle and perform a shake.", + "Grab the Coca-Cola bottle and give it a shake.", + "Shake the narrow-necked bottle after lifting it.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Grab and shake the red-capped bottle using the right arm.", + "Take the hand-sized soda bottle using the right arm and give it a shake.", + "Shake the bottle with white neck and red top using the right arm after grabbing.", + "Pick up the smooth bottle with red lid and shake it.", + "Use the right arm to pick and shake the bottle with ridges on bottom.", + "Lift the dark drink bottle with logo with the right arm and shake it.", + "Grab the smooth bottle with red lid using the right arm, then shake.", + "Grab the brown bottle with red label and shake it steadily.", + "Lift the medium dark brown bottle and shake it gently.", + "Use the right arm to hold the red-capped bottle and shake it.", + "Lift up the bottle with white neck and red top using the right arm, then shake.", + "Pick the long thin bottle up with the right arm and shake.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Use the right arm to grab the bottle with white neck and red top and shake properly.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Grab the Coca-Cola bottle and move it to shake.", + "Shake the the long thin bottle properly after lifting.", + "Use the right arm to grab the plastic drink bottle and shake it.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Hold the red-capped bottle, shake it briefly.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Catch the medium dark brown bottle and shake it instantly.", + "Grip the medium dark brown bottle using the right arm and shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Utilize the right arm to hold the long thin bottle and shake it.", + "Shake the brown bottle with red label after grabbing it.", + "Hold the smooth bottle with red lid and shake it properly.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Pick the bottle with white neck and red top up using the right arm and shake it.", + "Shake the red-capped bottle after grabbing it.", + "Grab the narrow-necked bottle with the right arm and shake.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Hold the bottle with white neck and red top with the right arm and shake lightly.", + "Hold the plastic drink bottle steady, then shake it.", + "Lift the red-capped bottle and shake it thoroughly.", + "Using the right arm, shake the red-capped bottle and then place it back.", + "Shake the long thin bottle after holding it firmly.", + "Lift the hand-sized soda bottle with the right arm and give it a shake.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Lift the long thin bottle with the right arm and shake.", + "Grasp the brown bottle with red label with the right arm and shake it.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Secure the medium dark brown bottle and perform a shake.", + "Grab the red-capped bottle and give it a shake.", + "Shake the bottle with ridges on bottom after lifting it.", + "Grab the dark drink bottle with logo carefully and shake.", + "Grab and shake the long thin bottle using the right arm.", + "Take the narrow-necked bottle using the right arm and give it a shake.", + "Shake the dark drink bottle with logo using the right arm after grabbing.", + "Pick up the bottle with ridges on bottom and shake it.", + "Use the right arm to pick and shake the bottle with white neck and red top.", + "Lift the Coca-Cola bottle with the right arm and shake it.", + "Grab the smooth bottle with red lid using the right arm, then shake.", + "Grab the red-capped bottle and shake it steadily.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Use the right arm to hold the medium dark brown bottle and shake it.", + "Lift up the long thin bottle using the right arm, then shake.", + "Pick the brown bottle with red label up with the right arm and shake." + ], + "unseen": [ + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode127.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode127.json new file mode 100644 index 0000000000000000000000000000000000000000..c894508a32cb6b0edbc0ef54b7689e6337c0ca65 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode127.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the brown bottle with red label.", + "Use the left arm to grab the dark drink bottle with logo and shake it.", + "Use the left arm to lift and shake the brown bottle with red label.", + "With the left arm, pick the narrow-necked bottle and shake properly.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Hold the red-capped bottle, shake it briefly.", + "Secure the narrow-necked bottle and perform a shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Lift the medium dark brown bottle with the left arm and give it a shake.", + "Pick the red-capped bottle up with the left arm and shake.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Use the left arm to hold the bottle with ridges on bottom and shake it.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Hold and shake the the medium dark brown bottle carefully.", + "Grab the brown bottle with red label and shake it steadily.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Grab the hand-sized soda bottle with the left arm and shake.", + "Grip the long thin bottle using the left arm and shake.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Pick up the dark drink bottle with logo and shake it.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Hold the medium dark brown bottle steady, then shake it.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Use the left arm to grab the hand-sized soda bottle and shake properly.", + "Hold the red-capped bottle and shake it properly.", + "Utilize the left arm to hold the long thin bottle and shake it.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Use the left arm to pick and shake the medium dark brown bottle.", + "Shake the dark drink bottle with logo after grabbing it.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "Pick up the medium dark brown bottle and shake it well.", + "Pick the medium dark brown bottle up using the left arm and shake it.", + "Grab the bottle with white neck and red top and give it a shake.", + "Pick the bottle with white neck and red top, shake it with the left arm.", + "Take the plastic drink bottle using the left arm and give it a shake.", + "Shake the the long thin bottle properly after lifting.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Grab the narrow-necked bottle carefully and shake.", + "Secure the red-capped bottle, shake it, and place it down.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Shake the smooth bottle with red lid after grabbing it.", + "Lift the red-capped bottle with the left arm and shake.", + "Grab the medium dark brown bottle using the left arm, then shake.", + "Grab and shake the brown bottle with red label using the left arm.", + "Using the left arm, shake the narrow-necked bottle and then place it back.", + "Grab the bottle with white neck and red top and move it to shake.", + "Shake the bottle with white neck and red top after lifting it.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Use the left arm to grab the long thin bottle and shake it.", + "Use the left arm to lift and shake the plastic drink bottle.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Hold the red-capped bottle, shake it briefly.", + "Secure the brown bottle with red label and perform a shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Lift the brown bottle with red label with the left arm and give it a shake.", + "Pick the long thin bottle up with the left arm and shake.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Use the left arm to hold the bottle with ridges on bottom and shake it.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Grab the long thin bottle and shake it steadily.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Grab the brown bottle with red label with the left arm and shake.", + "Grip the red-capped bottle using the left arm and shake.", + "Shake the narrow-necked bottle after holding it firmly.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Pick up the long thin bottle and shake it.", + "Lift up the medium dark brown bottle using the left arm, then shake.", + "Hold the brown bottle with red label steady, then shake it.", + "Shake the plastic drink bottle firmly after grabbing.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Hold the hand-sized soda bottle and shake it properly.", + "Utilize the left arm to hold the plastic drink bottle and shake it.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Shake the brown bottle with red label after grabbing it.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Lift the Coca-Cola bottle and shake it gently.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Pick up the narrow-necked bottle and shake it well.", + "Pick the plastic drink bottle up using the left arm and shake it.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Grab the smooth bottle with red lid carefully and shake.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Grasp the bottle with ridges on bottom with the left arm and shake it.", + "Shake the long thin bottle after grabbing it.", + "Lift the long thin bottle with the left arm and shake.", + "Grab the bottle with white neck and red top using the left arm, then shake.", + "Grab and shake the red-capped bottle using the left arm.", + "Using the left arm, shake the medium dark brown bottle and then place it back.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Shake the bottle with ridges on bottom after lifting it." + ], + "unseen": [ + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode128.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode128.json new file mode 100644 index 0000000000000000000000000000000000000000..6b8bfa1de913da2d8ef0de02aab84aaff4a179bb --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode128.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the smooth bottle with red lid, shake it with the right arm.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Pick the brown bottle with red label up using the right arm and shake it.", + "Using the right arm, shake the bottle with white neck and red top and then place it back.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Shake the long thin bottle after grabbing it.", + "Shake the bottle with ridges on bottom after lifting it.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Lift the Coca-Cola bottle with the right arm and give it a shake.", + "Lift the hand-sized soda bottle with the right arm and shake it.", + "Grab the brown bottle with red label using the right arm, then shake.", + "With the right arm, pick the dark drink bottle with logo and shake properly.", + "Lift up the hand-sized soda bottle using the right arm, then shake.", + "Secure the red-capped bottle and perform a shake.", + "Lift the narrow-necked bottle with the right arm and shake.", + "Use the right arm to pick and shake the Coca-Cola bottle.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Hold the hand-sized soda bottle with the right arm and shake lightly.", + "Grasp the dark drink bottle with logo with the right arm and shake it.", + "Hold the medium dark brown bottle, shake it briefly.", + "Utilize the right arm to hold the bottle with ridges on bottom and shake it.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Shake the bottle with white neck and red top after grabbing it.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Use the right arm to grab the dark drink bottle with logo and shake it.", + "Grab the brown bottle with red label and move it to shake.", + "Pick the medium dark brown bottle up with the right arm and shake.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Use the right arm to grab the medium dark brown bottle and shake properly.", + "Shake the narrow-necked bottle using the right arm after grabbing.", + "Lift the red-capped bottle and shake it gently.", + "Grab the dark drink bottle with logo with the right arm and shake.", + "Grab and shake the red-capped bottle using the right arm.", + "Grab the red-capped bottle and shake it steadily.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Use the right arm to hold the medium dark brown bottle and shake it.", + "Catch the narrow-necked bottle and shake it instantly.", + "Grip the brown bottle with red label using the right arm and shake.", + "Hold the dark drink bottle with logo and shake it properly.", + "Take the plastic drink bottle using the right arm and give it a shake.", + "Pick up the red-capped bottle and shake it.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Shake the narrow-necked bottle after grabbing it.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Grab the Coca-Cola bottle carefully and shake.", + "Grab the brown bottle with red label and give it a shake.", + "Pick up the smooth bottle with red lid and shake it well.", + "Pick the plastic drink bottle, shake it with the right arm.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Pick the medium dark brown bottle up using the right arm and shake it.", + "Using the right arm, shake the bottle with white neck and red top and then place it back.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Shake the long thin bottle after grabbing it.", + "Shake the smooth bottle with red lid after lifting it.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Lift the bottle with white neck and red top with the right arm and give it a shake.", + "Lift the medium dark brown bottle with the right arm and shake it.", + "Grab the red-capped bottle using the right arm, then shake.", + "With the right arm, pick the hand-sized soda bottle and shake properly.", + "Lift up the bottle with white neck and red top using the right arm, then shake.", + "Secure the plastic drink bottle and perform a shake.", + "Lift the narrow-necked bottle with the right arm and shake.", + "Use the right arm to pick and shake the narrow-necked bottle.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Hold the hand-sized soda bottle with the right arm and shake lightly.", + "Grasp the dark drink bottle with logo with the right arm and shake it.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Utilize the right arm to hold the brown bottle with red label and shake it.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Shake the dark drink bottle with logo after grabbing it.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Hold and shake the the narrow-necked bottle carefully.", + "Use the right arm to grab the long thin bottle and shake it.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Pick the hand-sized soda bottle up with the right arm and shake.", + "Pick the red-capped bottle and perform shaking motion.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Use the right arm to grab the red-capped bottle and shake properly.", + "Shake the long thin bottle using the right arm after grabbing.", + "Lift the brown bottle with red label and shake it gently.", + "Grab the red-capped bottle with the right arm and shake.", + "Grab and shake the Coca-Cola bottle using the right arm.", + "Grab the long thin bottle and shake it steadily.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Use the right arm to hold the medium dark brown bottle and shake it.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Grip the plastic drink bottle using the right arm and shake.", + "Hold the bottle with white neck and red top and shake it properly.", + "Take the hand-sized soda bottle using the right arm and give it a shake.", + "Pick up the dark drink bottle with logo and shake it.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Shake the Coca-Cola bottle after grabbing it.", + "Hold the narrow-necked bottle steady, then shake it.", + "Grab the plastic drink bottle carefully and shake.", + "Grab the plastic drink bottle and give it a shake.", + "Pick up the narrow-necked bottle and shake it well." + ], + "unseen": [ + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode129.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode129.json new file mode 100644 index 0000000000000000000000000000000000000000..6f4bc9a78ba559313f91d24d532a6efe2fef4744 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode129.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the handheld green bottle with the left arm and shake.", + "Grasp the bottle with narrow top with the left arm and shake it.", + "Grab the plastic bottle and move it to shake.", + "Hold and shake the the medium green bottle carefully.", + "Lift up the smooth green bottle using the left arm, then shake.", + "Hold the smooth green bottle steady, then shake it.", + "Grab the medium green bottle and give it a shake.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Use the left arm to grab the medium green bottle and shake properly.", + "Pick the green bottle with indented base up with the left arm and shake.", + "Pick up the medium-sized green bottle and shake it.", + "Catch the handheld green bottle and shake it instantly.", + "Shake the bottle with ridges near base after holding it firmly.", + "Pick up the handheld green bottle and shake it well.", + "Using the left arm, shake the bottle with narrow top and then place it back.", + "Hold the bottle with white printed label with the left arm and shake lightly.", + "Take the green bottle with indented base using the left arm and give it a shake.", + "Grab and shake the handheld green bottle using the left arm.", + "Secure the bottle with rounded neck and perform a shake.", + "Grab the bottle with white printed label carefully and shake.", + "Hold the bottle with rounded neck and shake it properly.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Grab the bottle with narrow top and shake it steadily.", + "Lift the bottle with rounded neck and shake it gently.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Shake the bottle with narrow top using the left arm after grabbing.", + "Shake the smooth green plastic bottle after grabbing it.", + "Use the left arm to grab the bottle with ridges near base and shake it.", + "Utilize the left arm to hold the smooth green bottle and shake it.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Grab the smooth green bottle using the left arm, then shake.", + "Pick the green bottle with indented base up using the left arm and shake it.", + "With the left arm, pick the handheld green bottle and shake properly.", + "Lift the bottle with white printed label with the left arm and give it a shake.", + "Use the left arm to pick and shake the medium green bottle.", + "Grab the smooth green plastic bottle with the left arm and shake.", + "Grip the smooth green bottle using the left arm and shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Shake the medium-sized green bottle after lifting it.", + "Shake the the medium green bottle properly after lifting.", + "Use the left arm to lift and shake the medium green bottle.", + "Shake the bottle with rounded neck after grabbing it.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Secure the smooth green bottle, shake it, and place it down.", + "Pick the bottle with rounded neck, shake it with the left arm.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Lift the bottle with narrow top with the left arm and shake.", + "Grasp the medium green bottle with capped neck with the left arm and shake it.", + "Grab the smooth green plastic bottle and move it to shake.", + "Hold and shake the the green bottle with indented base carefully.", + "Lift up the medium green bottle with capped neck using the left arm, then shake.", + "Hold the green bottle with indented base steady, then shake it.", + "Grab the smooth green plastic bottle and give it a shake.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Use the left arm to grab the smooth green bottle and shake properly.", + "Pick the handheld green bottle up with the left arm and shake.", + "Pick up the medium green bottle with capped neck and shake it.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Pick up the bottle with ridges near base and shake it well.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Hold the bottle with ridges near base with the left arm and shake lightly.", + "Take the smooth green plastic bottle using the left arm and give it a shake.", + "Grab and shake the bottle with narrow top using the left arm.", + "Secure the plastic bottle and perform a shake.", + "Grab the medium-sized green bottle carefully and shake.", + "Hold the smooth green plastic bottle and shake it properly.", + "Lift the smooth green plastic bottle with the left arm and shake it.", + "Grab the green bottle with indented base and shake it steadily.", + "Lift the bottle with narrow top and shake it gently.", + "Hold the bottle with white printed label, shake it briefly.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the smooth green plastic bottle using the left arm after grabbing.", + "Shake the bottle with white printed label after grabbing it.", + "Use the left arm to grab the smooth green bottle and shake it.", + "Utilize the left arm to hold the medium green bottle with capped neck and shake it.", + "Use the left arm to hold the bottle with narrow top and shake it.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Pick the bottle with ridges near base up using the left arm and shake it.", + "With the left arm, pick the smooth green bottle and shake properly.", + "Lift the bottle with narrow top with the left arm and give it a shake.", + "Use the left arm to pick and shake the bottle with narrow top.", + "Grab the bottle with ridges near base with the left arm and shake.", + "Grip the bottle with white printed label using the left arm and shake.", + "Shake the medium green bottle after grabbing it.", + "Shake the plastic bottle firmly after grabbing.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Shake the bottle with ridges near base after lifting it.", + "Shake the the bottle with narrow top properly after lifting.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Shake the bottle with ridges near base after grabbing it.", + "Use the left arm to lift and shake the smooth green bottle.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Pick the green bottle with indented base, shake it with the left arm.", + "Pick the bottle with ridges near base and perform shaking motion." + ], + "unseen": [ + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with the left arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode13.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..61ef40d651d2b3080591a1644045f6a508696004 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the red-capped bottle using the left arm, then shake.", + "Shake the dark drink bottle with logo after lifting it.", + "Catch the brown bottle with red label and shake it instantly.", + "Grab and shake the dark drink bottle with logo using the left arm.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Pick the dark drink bottle with logo up using the left arm and shake it.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "With the left arm, pick the brown bottle with red label and shake properly.", + "Shake the narrow-necked bottle after grabbing it.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Pick the brown bottle with red label, shake it with the left arm.", + "Grab the smooth bottle with red lid carefully and shake.", + "Pick up the bottle with ridges on bottom and shake it.", + "Lift the brown bottle with red label with the left arm and shake.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Hold the plastic drink bottle with the left arm and shake lightly.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Use the left arm to grab the dark drink bottle with logo and shake it.", + "Use the left arm to pick and shake the brown bottle with red label.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Grab the smooth bottle with red lid with the left arm and shake.", + "Grab the dark drink bottle with logo and give it a shake.", + "Shake the narrow-necked bottle after holding it firmly.", + "Grip the plastic drink bottle using the left arm and shake.", + "Grab the medium dark brown bottle and move it to shake.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Hold and shake the the long thin bottle carefully.", + "Use the left arm to grab the red-capped bottle and shake properly.", + "Shake the the red-capped bottle properly after lifting.", + "Take the long thin bottle using the left arm and give it a shake.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Grab the plastic drink bottle and shake it steadily.", + "Shake the long thin bottle after grabbing it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Hold the red-capped bottle, shake it briefly.", + "Shake the smooth bottle with red lid using the left arm after grabbing.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Lift the Coca-Cola bottle and shake it gently.", + "Lift up the red-capped bottle using the left arm, then shake.", + "Use the left arm to hold the hand-sized soda bottle and shake it.", + "Hold the hand-sized soda bottle and shake it properly.", + "Pick up the red-capped bottle and shake it well.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Secure the brown bottle with red label and perform a shake.", + "Pick the dark drink bottle with logo up with the left arm and shake.", + "Grab the hand-sized soda bottle using the left arm, then shake.", + "Shake the smooth bottle with red lid after lifting it.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Pick the medium dark brown bottle up using the left arm and shake it.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "With the left arm, pick the plastic drink bottle and shake properly.", + "Shake the smooth bottle with red lid after grabbing it.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "Pick the bottle with white neck and red top, shake it with the left arm.", + "Grab the hand-sized soda bottle carefully and shake.", + "Pick up the dark drink bottle with logo and shake it.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Use the left arm to grab the long thin bottle and shake it.", + "Use the left arm to pick and shake the hand-sized soda bottle.", + "Grasp the smooth bottle with red lid with the left arm and shake it.", + "Grab the plastic drink bottle with the left arm and shake.", + "Grab the hand-sized soda bottle and give it a shake.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Grip the red-capped bottle using the left arm and shake.", + "Grab the smooth bottle with red lid and move it to shake.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Hold the narrow-necked bottle steady, then shake it.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Take the red-capped bottle using the left arm and give it a shake.", + "Pick the plastic drink bottle and perform shaking motion.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Shake the medium dark brown bottle after grabbing it.", + "Shake the long thin bottle after grabbing it.", + "Hold the brown bottle with red label, shake it briefly.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Utilize the left arm to hold the brown bottle with red label and shake it.", + "Lift the medium dark brown bottle and shake it gently.", + "Lift up the plastic drink bottle using the left arm, then shake.", + "Use the left arm to hold the Coca-Cola bottle and shake it.", + "Hold the red-capped bottle and shake it properly.", + "Pick up the smooth bottle with red lid and shake it well.", + "Using the left arm, shake the medium dark brown bottle and then place it back.", + "Secure the brown bottle with red label and perform a shake.", + "Pick the Coca-Cola bottle up with the left arm and shake." + ], + "unseen": [ + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode130.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode130.json new file mode 100644 index 0000000000000000000000000000000000000000..c7620ebca0034fda45cb9388aa5f8d7fda635f5a --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode130.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the medium dark brown bottle.", + "Using the right arm, shake the dark drink bottle with logo and then place it back.", + "Lift up the smooth bottle with red lid using the right arm, then shake.", + "Utilize the right arm to hold the red-capped bottle and shake it.", + "Hold and shake the the medium dark brown bottle carefully.", + "Shake the plastic drink bottle after grabbing it.", + "Grab the plastic drink bottle carefully and shake.", + "Lift the bottle with white neck and red top with the right arm and give it a shake.", + "Lift the medium dark brown bottle and shake it gently.", + "Grab the narrow-necked bottle using the right arm, then shake.", + "Use the right arm to hold the smooth bottle with red lid and shake it.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Shake the dark drink bottle with logo after lifting it.", + "Pick up the red-capped bottle and shake it well.", + "Shake the the long thin bottle properly after lifting.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "With the right arm, pick the dark drink bottle with logo and shake properly.", + "Take the hand-sized soda bottle using the right arm and give it a shake.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Use the right arm to pick and shake the red-capped bottle.", + "Hold the smooth bottle with red lid with the right arm and shake lightly.", + "Grip the Coca-Cola bottle using the right arm and shake.", + "Pick the smooth bottle with red lid up with the right arm and shake.", + "Use the right arm to grab the dark drink bottle with logo and shake properly.", + "Pick up the Coca-Cola bottle and shake it.", + "Grasp the Coca-Cola bottle with the right arm and shake it.", + "Secure the Coca-Cola bottle and perform a shake.", + "Lift the Coca-Cola bottle with the right arm and shake it.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Use the right arm to grab the smooth bottle with red lid and shake it.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Shake the narrow-necked bottle after grabbing it.", + "Grab the plastic drink bottle and give it a shake.", + "Grab the long thin bottle and move it to shake.", + "Pick the Coca-Cola bottle, shake it with the right arm.", + "Pick the red-capped bottle up using the right arm and shake it.", + "Lift the dark drink bottle with logo with the right arm and shake.", + "Shake the bottle with ridges on bottom using the right arm after grabbing.", + "Grab the hand-sized soda bottle with the right arm and shake.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Shake the plastic drink bottle after grabbing it.", + "Hold the brown bottle with red label and shake it properly.", + "Catch the narrow-necked bottle and shake it instantly.", + "Shake the plastic drink bottle after holding it firmly.", + "Grab and shake the medium dark brown bottle using the right arm.", + "Use the right arm to lift and shake the red-capped bottle.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Using the right arm, shake the Coca-Cola bottle and then place it back.", + "Lift up the medium dark brown bottle using the right arm, then shake.", + "Utilize the right arm to hold the dark drink bottle with logo and shake it.", + "Hold and shake the the plastic drink bottle carefully.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grab the narrow-necked bottle carefully and shake.", + "Lift the red-capped bottle with the right arm and give it a shake.", + "Lift the plastic drink bottle and shake it gently.", + "Grab the red-capped bottle using the right arm, then shake.", + "Use the right arm to hold the Coca-Cola bottle and shake it.", + "Shake the plastic drink bottle firmly after grabbing.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Grab the red-capped bottle and shake it steadily.", + "Hold the long thin bottle steady, then shake it.", + "Shake the bottle with ridges on bottom after lifting it.", + "Pick up the brown bottle with red label and shake it well.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "With the right arm, pick the long thin bottle and shake properly.", + "Take the hand-sized soda bottle using the right arm and give it a shake.", + "Hold the brown bottle with red label, shake it briefly.", + "Use the right arm to pick and shake the plastic drink bottle.", + "Hold the bottle with white neck and red top with the right arm and shake lightly.", + "Grip the narrow-necked bottle using the right arm and shake.", + "Pick the hand-sized soda bottle up with the right arm and shake.", + "Use the right arm to grab the narrow-necked bottle and shake properly.", + "Pick up the medium dark brown bottle and shake it.", + "Grasp the red-capped bottle with the right arm and shake it.", + "Secure the plastic drink bottle and perform a shake.", + "Lift the bottle with white neck and red top with the right arm and shake it.", + "Lift the long thin bottle and shake it thoroughly.", + "Use the right arm to grab the plastic drink bottle and shake it.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Shake the red-capped bottle after grabbing it.", + "Grab the red-capped bottle and give it a shake.", + "Grab the dark drink bottle with logo and move it to shake.", + "Pick the narrow-necked bottle, shake it with the right arm.", + "Pick the smooth bottle with red lid up using the right arm and shake it.", + "Lift the narrow-necked bottle with the right arm and shake.", + "Shake the dark drink bottle with logo using the right arm after grabbing.", + "Grab the bottle with white neck and red top with the right arm and shake.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Shake the dark drink bottle with logo after grabbing it.", + "Hold the smooth bottle with red lid and shake it properly.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Shake the medium dark brown bottle after holding it firmly.", + "Grab and shake the hand-sized soda bottle using the right arm.", + "Use the right arm to lift and shake the plastic drink bottle." + ], + "unseen": [ + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode131.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode131.json new file mode 100644 index 0000000000000000000000000000000000000000..44ee9764aef8773995f2b57c9082e463e11072f0 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode131.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the Coca-Cola bottle and shake it properly.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Grab the medium dark brown bottle and shake it steadily.", + "Hold the medium dark brown bottle steady, then shake it.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Catch the medium dark brown bottle and shake it instantly.", + "Grasp the bottle with white neck and red top with the left arm and shake it.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Grip the medium dark brown bottle using the left arm and shake.", + "Shake the long thin bottle after grabbing it.", + "Grab the brown bottle with red label and move it to shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Use the left arm to lift and shake the long thin bottle.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "Grab the hand-sized soda bottle carefully and shake.", + "Pick the smooth bottle with red lid up with the left arm and shake.", + "Pick up the plastic drink bottle and shake it well.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Shake the plastic drink bottle firmly after grabbing.", + "Grab the Coca-Cola bottle with the left arm and shake.", + "Lift the long thin bottle and shake it gently.", + "With the left arm, pick the brown bottle with red label and shake properly.", + "Pick the hand-sized soda bottle, shake it with the left arm.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Lift the long thin bottle with the left arm and give it a shake.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Grab the Coca-Cola bottle using the left arm, then shake.", + "Use the left arm to grab the brown bottle with red label and shake it.", + "Shake the brown bottle with red label after lifting it.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Take the medium dark brown bottle using the left arm and give it a shake.", + "Use the left arm to hold the smooth bottle with red lid and shake it.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Lift the bottle with ridges on bottom with the left arm and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Using the left arm, shake the bottle with white neck and red top and then place it back.", + "Shake the medium dark brown bottle after holding it firmly.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Secure the hand-sized soda bottle and perform a shake.", + "Pick up the medium dark brown bottle and shake it.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Grab the dark drink bottle with logo and give it a shake.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Shake the red-capped bottle using the left arm after grabbing.", + "Hold the red-capped bottle and shake it properly.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Grab the long thin bottle and shake it steadily.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Use the left arm to pick and shake the bottle with white neck and red top.", + "Catch the medium dark brown bottle and shake it instantly.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Grip the brown bottle with red label using the left arm and shake.", + "Shake the plastic drink bottle after grabbing it.", + "Grab the brown bottle with red label and move it to shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Lift the bottle with white neck and red top with the left arm and shake it.", + "Grab the smooth bottle with red lid carefully and shake.", + "Pick the medium dark brown bottle up with the left arm and shake.", + "Pick up the hand-sized soda bottle and shake it well.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Shake the brown bottle with red label firmly after grabbing.", + "Grab the plastic drink bottle with the left arm and shake.", + "Lift the plastic drink bottle and shake it gently.", + "With the left arm, pick the long thin bottle and shake properly.", + "Pick the dark drink bottle with logo, shake it with the left arm.", + "Lift the long thin bottle and shake it thoroughly.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Shake the the red-capped bottle properly after lifting.", + "Pick the smooth bottle with red lid up using the left arm and shake it.", + "Grab the red-capped bottle using the left arm, then shake.", + "Use the left arm to grab the red-capped bottle and shake it.", + "Shake the dark drink bottle with logo after lifting it.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Use the left arm to hold the red-capped bottle and shake it.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Lift the plastic drink bottle with the left arm and shake.", + "Shake the brown bottle with red label after grabbing it.", + "Using the left arm, shake the red-capped bottle and then place it back.", + "Shake the plastic drink bottle after holding it firmly.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Secure the smooth bottle with red lid and perform a shake.", + "Pick up the bottle with white neck and red top and shake it.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Hold the narrow-necked bottle with the left arm and shake lightly.", + "Grab and shake the Coca-Cola bottle using the left arm.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Grab the brown bottle with red label and give it a shake.", + "Lift up the dark drink bottle with logo using the left arm, then shake.", + "Shake the Coca-Cola bottle using the left arm after grabbing." + ], + "unseen": [ + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode132.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode132.json new file mode 100644 index 0000000000000000000000000000000000000000..71cc01e7221ceba5cfd7115d92386009e202876f --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode132.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with ridges near base and shake it steadily.", + "Take the bottle with white printed label using the left arm and give it a shake.", + "Pick the smooth green bottle up with the left arm and shake.", + "Hold the plastic bottle steady, then shake it.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Hold and shake the the plastic bottle carefully.", + "Catch the bottle with narrow top and shake it instantly.", + "Shake the bottle with rounded neck after holding it firmly.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the smooth green plastic bottle with the left arm and shake.", + "Shake the bottle with rounded neck after grabbing it.", + "Use the left arm to grab the smooth green bottle and shake it.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Pick the smooth green plastic bottle, shake it with the left arm.", + "Shake the the bottle with narrow top properly after lifting.", + "Lift the plastic bottle and shake it thoroughly.", + "Lift the bottle with ridges near base with the left arm and shake.", + "Hold the medium green bottle, shake it briefly.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Pick up the bottle with rounded neck and shake it.", + "With the left arm, pick the plastic bottle and shake properly.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Shake the handheld green bottle using the left arm after grabbing.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Lift the medium green bottle and shake it gently.", + "Utilize the left arm to hold the smooth green plastic bottle and shake it.", + "Pick up the green bottle with indented base and shake it well.", + "Use the left arm to grab the green bottle with indented base and shake properly.", + "Grab and shake the medium green bottle with capped neck using the left arm.", + "Pick the handheld green bottle and perform shaking motion.", + "Use the left arm to hold the green bottle with indented base and shake it.", + "Pick the bottle with white printed label up using the left arm and shake it.", + "Hold the bottle with ridges near base and shake it properly.", + "Secure the bottle with white printed label and perform a shake.", + "Grab the handheld green bottle and move it to shake.", + "Lift up the medium-sized green bottle using the left arm, then shake.", + "Using the left arm, shake the green bottle with indented base and then place it back.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Hold the bottle with ridges near base with the left arm and shake lightly.", + "Grasp the medium-sized green bottle with the left arm and shake it.", + "Use the left arm to lift and shake the handheld green bottle.", + "Lift the medium-sized green bottle with the left arm and give it a shake.", + "Shake the bottle with ridges near base after grabbing it.", + "Lift the medium-sized green bottle with the left arm and shake it.", + "Use the left arm to pick and shake the bottle with white printed label.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "Grab the bottle with white printed label carefully and shake.", + "Shake the smooth green bottle after lifting it.", + "Shake the green bottle with indented base after grabbing it.", + "Grab the handheld green bottle and shake it steadily.", + "Take the handheld green bottle using the left arm and give it a shake.", + "Pick the plastic bottle up with the left arm and shake.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Grab the plastic bottle using the left arm, then shake.", + "Hold and shake the the bottle with narrow top carefully.", + "Catch the bottle with rounded neck and shake it instantly.", + "Shake the bottle with rounded neck after holding it firmly.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the medium green bottle with capped neck with the left arm and shake.", + "Shake the bottle with white printed label after grabbing it.", + "Use the left arm to grab the smooth green bottle and shake it.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Pick the handheld green bottle, shake it with the left arm.", + "Shake the the smooth green bottle properly after lifting.", + "Lift the smooth green bottle and shake it thoroughly.", + "Lift the medium-sized green bottle with the left arm and shake.", + "Hold the medium-sized green bottle, shake it briefly.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Pick up the medium-sized green bottle and shake it.", + "With the left arm, pick the handheld green bottle and shake properly.", + "Grab the bottle with rounded neck and give it a shake.", + "Shake the medium green bottle with capped neck using the left arm after grabbing.", + "Use the left arm to lift and shake the medium green bottle.", + "Lift the green bottle with indented base and shake it gently.", + "Utilize the left arm to hold the bottle with white printed label and shake it.", + "Pick up the smooth green bottle and shake it well.", + "Use the left arm to grab the medium green bottle and shake properly.", + "Grab and shake the plastic bottle using the left arm.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Use the left arm to hold the plastic bottle and shake it.", + "Pick the plastic bottle up using the left arm and shake it.", + "Hold the plastic bottle and shake it properly.", + "Secure the bottle with ridges near base and perform a shake.", + "Grab the handheld green bottle and move it to shake.", + "Lift up the smooth green bottle using the left arm, then shake.", + "Using the left arm, shake the medium-sized green bottle and then place it back.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Hold the handheld green bottle with the left arm and shake lightly.", + "Grasp the medium-sized green bottle with the left arm and shake it.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Shake the bottle with ridges near base after grabbing it.", + "Lift the smooth green bottle with the left arm and shake it.", + "Use the left arm to pick and shake the bottle with narrow top.", + "Grip the handheld green bottle using the left arm and shake.", + "Grab the smooth green bottle carefully and shake.", + "Shake the bottle with ridges near base after lifting it.", + "Shake the medium-sized green bottle after grabbing it." + ], + "unseen": [ + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode133.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode133.json new file mode 100644 index 0000000000000000000000000000000000000000..d8b4f744d473a1d699f03a568d03375a21ce9602 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode133.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the dark drink bottle with logo up using the right arm and shake it.", + "Grab the brown bottle with red label and give it a shake.", + "Hold the Coca-Cola bottle and shake it properly.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Shake the Coca-Cola bottle after grabbing it.", + "Secure the hand-sized soda bottle and perform a shake.", + "Use the right arm to hold the medium dark brown bottle and shake it.", + "Pick the red-capped bottle, shake it with the right arm.", + "Hold and shake the the long thin bottle carefully.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Grab the narrow-necked bottle using the right arm, then shake.", + "Shake the medium dark brown bottle using the right arm after grabbing.", + "Lift the red-capped bottle with the right arm and shake it.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Grab and shake the red-capped bottle using the right arm.", + "Lift up the hand-sized soda bottle using the right arm, then shake.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Shake the hand-sized soda bottle after lifting it.", + "Hold the bottle with white neck and red top with the right arm and shake lightly.", + "Use the right arm to pick and shake the smooth bottle with red lid.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grasp the medium dark brown bottle with the right arm and shake it.", + "Shake the brown bottle with red label after holding it firmly.", + "Grip the bottle with ridges on bottom using the right arm and shake.", + "Pick the plastic drink bottle up with the right arm and shake.", + "Grab the narrow-necked bottle and shake it steadily.", + "Pick the long thin bottle and perform shaking motion.", + "Take the smooth bottle with red lid using the right arm and give it a shake.", + "Lift the plastic drink bottle and shake it gently.", + "With the right arm, pick the smooth bottle with red lid and shake properly.", + "Use the right arm to grab the narrow-necked bottle and shake properly.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Pick up the narrow-necked bottle and shake it.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Lift the bottle with white neck and red top with the right arm and give it a shake.", + "Use the right arm to grab the red-capped bottle and shake it.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Grab the plastic drink bottle carefully and shake.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Lift the bottle with white neck and red top with the right arm and shake.", + "Using the right arm, shake the medium dark brown bottle and then place it back.", + "Pick up the dark drink bottle with logo and shake it well.", + "Shake the bottle with white neck and red top after grabbing it.", + "Shake the red-capped bottle firmly after grabbing.", + "Grab the plastic drink bottle and move it to shake.", + "Grab the bottle with white neck and red top with the right arm and shake.", + "Pick the bottle with white neck and red top up using the right arm and shake it.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Hold the bottle with white neck and red top and shake it properly.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Shake the dark drink bottle with logo after grabbing it.", + "Secure the bottle with white neck and red top and perform a shake.", + "Use the right arm to hold the dark drink bottle with logo and shake it.", + "Pick the bottle with white neck and red top, shake it with the right arm.", + "Hold and shake the the long thin bottle carefully.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Grab the narrow-necked bottle using the right arm, then shake.", + "Shake the red-capped bottle using the right arm after grabbing.", + "Lift the bottle with ridges on bottom with the right arm and shake it.", + "Hold the red-capped bottle, shake it briefly.", + "Grab and shake the narrow-necked bottle using the right arm.", + "Lift up the brown bottle with red label using the right arm, then shake.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Catch the plastic drink bottle and shake it instantly.", + "Shake the bottle with ridges on bottom after lifting it.", + "Hold the red-capped bottle with the right arm and shake lightly.", + "Use the right arm to pick and shake the bottle with white neck and red top.", + "Shake the medium dark brown bottle after grabbing it.", + "Grasp the smooth bottle with red lid with the right arm and shake it.", + "Shake the long thin bottle after holding it firmly.", + "Grip the long thin bottle using the right arm and shake.", + "Pick the dark drink bottle with logo up with the right arm and shake.", + "Grab the plastic drink bottle and shake it steadily.", + "Pick the plastic drink bottle and perform shaking motion.", + "Take the bottle with ridges on bottom using the right arm and give it a shake.", + "Lift the red-capped bottle and shake it gently.", + "With the right arm, pick the dark drink bottle with logo and shake properly.", + "Use the right arm to grab the narrow-necked bottle and shake properly.", + "Utilize the right arm to hold the medium dark brown bottle and shake it.", + "Pick up the long thin bottle and shake it.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Lift the smooth bottle with red lid with the right arm and give it a shake.", + "Use the right arm to grab the brown bottle with red label and shake it.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Grab the bottle with white neck and red top carefully and shake.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Lift the red-capped bottle with the right arm and shake.", + "Using the right arm, shake the bottle with white neck and red top and then place it back.", + "Pick up the long thin bottle and shake it well.", + "Shake the red-capped bottle after grabbing it.", + "Shake the long thin bottle firmly after grabbing.", + "Grab the narrow-necked bottle and move it to shake.", + "Grab the bottle with white neck and red top with the right arm and shake." + ], + "unseen": [ + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode134.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode134.json new file mode 100644 index 0000000000000000000000000000000000000000..d06de08a0e878f949d8904b44ed64c487c1a40eb --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode134.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with rounded neck after grabbing it.", + "Take the medium green bottle using the right arm and give it a shake.", + "Hold the handheld green bottle and shake it properly.", + "Shake the medium green bottle firmly after grabbing.", + "Pick the medium green bottle with capped neck up with the right arm and shake.", + "Lift up the smooth green bottle using the right arm, then shake.", + "Grab the bottle with ridges near base and shake it steadily.", + "Use the right arm to grab the bottle with narrow top and shake properly.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Use the right arm to grab the green bottle with indented base and shake it.", + "Pick up the plastic bottle and shake it.", + "Pick up the plastic bottle and shake it well.", + "Pick the bottle with narrow top and perform shaking motion.", + "Catch the handheld green bottle and shake it instantly.", + "Use the right arm to hold the green bottle with indented base and shake it.", + "Grab the smooth green bottle carefully and shake.", + "Lift the medium green bottle and shake it thoroughly.", + "Pick the medium green bottle, shake it with the right arm.", + "Shake the smooth green bottle after grabbing it.", + "Shake the medium green bottle with capped neck using the right arm after grabbing.", + "Grab the plastic bottle with the right arm and shake.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Lift the bottle with white printed label with the right arm and shake.", + "Grip the bottle with rounded neck using the right arm and shake.", + "Lift the bottle with narrow top with the right arm and give it a shake.", + "Use the right arm to lift and shake the smooth green bottle.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Hold the green bottle with indented base with the right arm and shake lightly.", + "Hold the bottle with white printed label, shake it briefly.", + "Shake the bottle with white printed label after holding it firmly.", + "Shake the bottle with white printed label after grabbing it.", + "Pick the bottle with white printed label up using the right arm and shake it.", + "Grab the smooth green bottle using the right arm, then shake.", + "Shake the bottle with rounded neck after lifting it.", + "Secure the handheld green bottle, shake it, and place it down.", + "Grasp the green bottle with indented base with the right arm and shake it.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Lift the smooth green bottle and shake it gently.", + "Grab and shake the medium-sized green bottle using the right arm.", + "Secure the medium green bottle and perform a shake.", + "Use the right arm to lift and shake the smooth green bottle.", + "Use the right arm to pick and shake the medium green bottle with capped neck.", + "Lift the smooth green bottle with the right arm and shake it.", + "Hold the plastic bottle steady, then shake it.", + "Using the right arm, shake the medium green bottle with capped neck and then place it back.", + "With the right arm, pick the medium green bottle and shake properly.", + "Utilize the right arm to hold the medium green bottle with capped neck and shake it.", + "Grab the green bottle with indented base and give it a shake.", + "Shake the the smooth green bottle properly after lifting.", + "Grab the medium-sized green bottle and move it to shake.", + "Shake the bottle with narrow top after grabbing it.", + "Take the plastic bottle using the right arm and give it a shake.", + "Hold the green bottle with indented base and shake it properly.", + "Shake the handheld green bottle firmly after grabbing.", + "Pick the green bottle with indented base up with the right arm and shake.", + "Lift up the bottle with rounded neck using the right arm, then shake.", + "Grab the plastic bottle and shake it steadily.", + "Use the right arm to grab the handheld green bottle and shake properly.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "Pick up the bottle with rounded neck and shake it.", + "Pick up the smooth green bottle and shake it well.", + "Pick the bottle with white printed label and perform shaking motion.", + "Catch the green bottle with indented base and shake it instantly.", + "Use the right arm to hold the smooth green plastic bottle and shake it.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Pick the bottle with white printed label, shake it with the right arm.", + "Shake the bottle with white printed label after grabbing it.", + "Shake the green bottle with indented base using the right arm after grabbing.", + "Grab the smooth green bottle with the right arm and shake.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Lift the bottle with ridges near base with the right arm and shake.", + "Grip the medium-sized green bottle using the right arm and shake.", + "Lift the bottle with white printed label with the right arm and give it a shake.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Hold the medium green bottle with the right arm and shake lightly.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Shake the bottle with narrow top after holding it firmly.", + "Shake the bottle with narrow top after grabbing it.", + "Pick the bottle with narrow top up using the right arm and shake it.", + "Grab the bottle with rounded neck using the right arm, then shake.", + "Shake the bottle with white printed label after lifting it.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Grasp the bottle with narrow top with the right arm and shake it.", + "Use the right arm to lift and shake the handheld green bottle.", + "Lift the medium green bottle and shake it gently.", + "Grab and shake the bottle with white printed label using the right arm.", + "Secure the bottle with narrow top and perform a shake.", + "Use the right arm to lift and shake the medium green bottle.", + "Use the right arm to pick and shake the medium-sized green bottle.", + "Lift the bottle with rounded neck with the right arm and shake it.", + "Hold the bottle with rounded neck steady, then shake it.", + "Using the right arm, shake the plastic bottle and then place it back.", + "With the right arm, pick the plastic bottle and shake properly.", + "Utilize the right arm to hold the green bottle with indented base and shake it.", + "Grab the smooth green bottle and give it a shake.", + "Shake the the bottle with narrow top properly after lifting.", + "Grab the plastic bottle and move it to shake." + ], + "unseen": [ + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode135.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode135.json new file mode 100644 index 0000000000000000000000000000000000000000..3c7bd91e9878c7dcf25d54bc07824da23cdb6fac --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode135.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the green bottle with indented base after holding it firmly.", + "Pick the plastic bottle up using the left arm and shake it.", + "Pick the handheld green bottle, shake it with the left arm.", + "Hold the green bottle with indented base steady, then shake it.", + "Pick the plastic bottle and perform shaking motion.", + "Use the left arm to grab the bottle with ridges near base and shake properly.", + "Use the left arm to pick and shake the smooth green plastic bottle.", + "Use the left arm to hold the bottle with narrow top and shake it.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Hold the smooth green bottle and shake it properly.", + "Shake the bottle with narrow top after grabbing it.", + "Use the left arm to lift and shake the plastic bottle.", + "Catch the medium-sized green bottle and shake it instantly.", + "Shake the bottle with ridges near base after lifting it.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Lift the medium green bottle and shake it thoroughly.", + "Grip the medium-sized green bottle using the left arm and shake.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Grab the plastic bottle and move it to shake.", + "With the left arm, pick the green bottle with indented base and shake properly.", + "Grasp the handheld green bottle with the left arm and shake it.", + "Using the left arm, shake the handheld green bottle and then place it back.", + "Utilize the left arm to hold the medium green bottle and shake it.", + "Lift the bottle with white printed label with the left arm and shake.", + "Lift up the handheld green bottle using the left arm, then shake.", + "Grab the handheld green bottle and shake it steadily.", + "Shake the handheld green bottle firmly after grabbing.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Secure the plastic bottle and perform a shake.", + "Lift the handheld green bottle with the left arm and give it a shake.", + "Use the left arm to grab the plastic bottle and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Lift the bottle with narrow top and shake it gently.", + "Grab the plastic bottle and give it a shake.", + "Use the left arm to lift and shake the handheld green bottle.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Grab the bottle with white printed label with the left arm and shake.", + "Pick up the bottle with narrow top and shake it.", + "Shake the bottle with ridges near base using the left arm after grabbing.", + "Pick the bottle with white printed label up with the left arm and shake.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Take the handheld green bottle using the left arm and give it a shake.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Shake the handheld green bottle after grabbing it.", + "Pick up the green bottle with indented base and shake it well.", + "Grab the bottle with ridges near base using the left arm, then shake.", + "Hold the smooth green plastic bottle with the left arm and shake lightly.", + "Grab and shake the smooth green plastic bottle using the left arm.", + "Shake the the medium-sized green bottle properly after lifting.", + "Shake the smooth green bottle after holding it firmly.", + "Pick the bottle with rounded neck up using the left arm and shake it.", + "Pick the bottle with rounded neck, shake it with the left arm.", + "Hold the bottle with ridges near base steady, then shake it.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Use the left arm to pick and shake the bottle with rounded neck.", + "Use the left arm to hold the medium green bottle with capped neck and shake it.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Hold the medium-sized green bottle and shake it properly.", + "Shake the bottle with ridges near base after grabbing it.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Catch the bottle with white printed label and shake it instantly.", + "Shake the medium green bottle after lifting it.", + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Grab the smooth green bottle and move it to shake.", + "With the left arm, pick the medium green bottle and shake properly.", + "Grasp the bottle with narrow top with the left arm and shake it.", + "Using the left arm, shake the bottle with rounded neck and then place it back.", + "Utilize the left arm to hold the bottle with ridges near base and shake it.", + "Lift the medium green bottle with the left arm and shake.", + "Lift up the medium green bottle using the left arm, then shake.", + "Grab the bottle with ridges near base and shake it steadily.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Grab the bottle with rounded neck carefully and shake.", + "Secure the bottle with ridges near base and perform a shake.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Use the left arm to grab the bottle with ridges near base and shake it.", + "Shake the medium-sized green bottle after grabbing it.", + "Lift the bottle with ridges near base and shake it gently.", + "Grab the bottle with rounded neck and give it a shake.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Lift the medium green bottle with capped neck with the left arm and shake it.", + "Grab the bottle with rounded neck with the left arm and shake.", + "Pick up the medium green bottle and shake it.", + "Shake the smooth green bottle using the left arm after grabbing.", + "Pick the bottle with rounded neck up with the left arm and shake.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Hold the medium green bottle with capped neck, shake it briefly.", + "Take the handheld green bottle using the left arm and give it a shake.", + "Hold and shake the the smooth green bottle carefully.", + "Shake the medium-sized green bottle after grabbing it.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Hold the medium green bottle with capped neck with the left arm and shake lightly.", + "Grab and shake the green bottle with indented base using the left arm.", + "Shake the the bottle with ridges near base properly after lifting." + ], + "unseen": [ + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode136.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode136.json new file mode 100644 index 0000000000000000000000000000000000000000..3a437c5ac6d14e7fc61d763470468bd371800377 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode136.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the narrow-necked bottle and move it to shake.", + "Use the right arm to pick and shake the medium dark brown bottle.", + "Lift the long thin bottle and shake it gently.", + "Pick the plastic drink bottle and perform shaking motion.", + "Shake the narrow-necked bottle using the right arm after grabbing.", + "Lift the bottle with white neck and red top with the right arm and give it a shake.", + "Using the right arm, shake the medium dark brown bottle and then place it back.", + "With the right arm, pick the hand-sized soda bottle and shake properly.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "Grip the medium dark brown bottle using the right arm and shake.", + "Pick up the smooth bottle with red lid and shake it.", + "Grasp the red-capped bottle with the right arm and shake it.", + "Lift the brown bottle with red label with the right arm and shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Grab and shake the brown bottle with red label using the right arm.", + "Pick the bottle with white neck and red top up using the right arm and shake it.", + "Take the bottle with white neck and red top using the right arm and give it a shake.", + "Hold the smooth bottle with red lid with the right arm and shake lightly.", + "Secure the dark drink bottle with logo and perform a shake.", + "Hold the brown bottle with red label steady, then shake it.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Shake the bottle with white neck and red top after grabbing it.", + "Lift the narrow-necked bottle with the right arm and shake it.", + "Grab the Coca-Cola bottle using the right arm, then shake.", + "Shake the red-capped bottle after lifting it.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Hold the long thin bottle and shake it properly.", + "Grab the bottle with white neck and red top carefully and shake.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Grab the brown bottle with red label and shake it steadily.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Pick the dark drink bottle with logo, shake it with the right arm.", + "Use the right arm to grab the smooth bottle with red lid and shake it.", + "Use the right arm to grab the smooth bottle with red lid and shake properly.", + "Secure the long thin bottle, shake it, and place it down.", + "Pick the bottle with white neck and red top up with the right arm and shake.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Pick up the plastic drink bottle and shake it well.", + "Lift up the long thin bottle using the right arm, then shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Grab the medium dark brown bottle and give it a shake.", + "Use the right arm to hold the red-capped bottle and shake it.", + "Grab the plastic drink bottle with the right arm and shake.", + "Grab the plastic drink bottle and move it to shake.", + "Use the right arm to pick and shake the red-capped bottle.", + "Lift the medium dark brown bottle and shake it gently.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Shake the red-capped bottle using the right arm after grabbing.", + "Lift the medium dark brown bottle with the right arm and give it a shake.", + "Using the right arm, shake the bottle with ridges on bottom and then place it back.", + "With the right arm, pick the Coca-Cola bottle and shake properly.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Pick up the plastic drink bottle and shake it.", + "Grasp the narrow-necked bottle with the right arm and shake it.", + "Lift the smooth bottle with red lid with the right arm and shake.", + "Shake the plastic drink bottle after grabbing it.", + "Shake the red-capped bottle after holding it firmly.", + "Grab and shake the hand-sized soda bottle using the right arm.", + "Pick the long thin bottle up using the right arm and shake it.", + "Take the dark drink bottle with logo using the right arm and give it a shake.", + "Hold the narrow-necked bottle with the right arm and shake lightly.", + "Secure the narrow-necked bottle and perform a shake.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Shake the Coca-Cola bottle after grabbing it.", + "Lift the smooth bottle with red lid with the right arm and shake it.", + "Grab the hand-sized soda bottle using the right arm, then shake.", + "Shake the smooth bottle with red lid after lifting it.", + "Utilize the right arm to hold the Coca-Cola bottle and shake it.", + "Hold and shake the the plastic drink bottle carefully.", + "Hold the narrow-necked bottle and shake it properly.", + "Grab the smooth bottle with red lid carefully and shake.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Catch the medium dark brown bottle and shake it instantly.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Pick the long thin bottle, shake it with the right arm.", + "Use the right arm to grab the bottle with white neck and red top and shake it.", + "Use the right arm to grab the hand-sized soda bottle and shake properly.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Pick the smooth bottle with red lid up with the right arm and shake.", + "Shake the the red-capped bottle properly after lifting.", + "Pick up the plastic drink bottle and shake it well.", + "Lift up the bottle with white neck and red top using the right arm, then shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Use the right arm to lift and shake the long thin bottle.", + "Grab the long thin bottle and give it a shake.", + "Use the right arm to hold the red-capped bottle and shake it.", + "Grab the hand-sized soda bottle with the right arm and shake." + ], + "unseen": [ + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode137.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode137.json new file mode 100644 index 0000000000000000000000000000000000000000..717363a49d5b406cc41c9e053d4ad6fcc7606eb3 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode137.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the bottle with white printed label and shake it.", + "Using the right arm, shake the green bottle with indented base and then place it back.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Shake the handheld green bottle after grabbing it.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Secure the plastic bottle, shake it, and place it down.", + "Grab the plastic bottle and shake it steadily.", + "Pick up the bottle with narrow top and shake it well.", + "With the right arm, pick the plastic bottle and shake properly.", + "Use the right arm to pick and shake the smooth green plastic bottle.", + "Hold the medium green bottle steady, then shake it.", + "Hold and shake the the medium green bottle carefully.", + "Grab and shake the medium green bottle with capped neck using the right arm.", + "Pick the bottle with ridges near base, shake it with the right arm.", + "Hold the bottle with ridges near base and shake it properly.", + "Grab the bottle with narrow top and move it to shake.", + "Catch the bottle with narrow top and shake it instantly.", + "Pick the plastic bottle up with the right arm and shake.", + "Shake the medium-sized green bottle after lifting it.", + "Use the right arm to hold the plastic bottle and shake it.", + "Lift the plastic bottle and shake it gently.", + "Shake the the green bottle with indented base properly after lifting.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Pick up the bottle with narrow top and shake it.", + "Pick the medium-sized green bottle up using the right arm and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Grab the smooth green bottle and give it a shake.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Lift the bottle with narrow top with the right arm and shake it.", + "Secure the medium-sized green bottle and perform a shake.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Grasp the plastic bottle with the right arm and shake it.", + "Shake the medium green bottle after holding it firmly.", + "Lift up the bottle with rounded neck using the right arm, then shake.", + "Grip the medium green bottle using the right arm and shake.", + "Use the right arm to grab the medium green bottle with capped neck and shake properly.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Shake the bottle with narrow top using the right arm after grabbing.", + "Hold the smooth green plastic bottle with the right arm and shake lightly.", + "Grab the smooth green plastic bottle using the right arm, then shake.", + "Hold the plastic bottle, shake it briefly.", + "Grab the bottle with ridges near base carefully and shake.", + "Lift the smooth green bottle and shake it thoroughly.", + "Utilize the right arm to hold the medium green bottle and shake it.", + "Take the smooth green bottle using the right arm and give it a shake.", + "Lift the bottle with narrow top with the right arm and give it a shake.", + "Lift the smooth green plastic bottle with the right arm and shake.", + "Shake the medium green bottle after grabbing it.", + "Grab the bottle with narrow top with the right arm and shake.", + "Use the right arm to grab the green bottle with indented base and shake it.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Pick the plastic bottle and perform shaking motion.", + "Shake the green bottle with indented base after grabbing it.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Secure the smooth green bottle, shake it, and place it down.", + "Grab the smooth green bottle and shake it steadily.", + "Pick up the plastic bottle and shake it well.", + "With the right arm, pick the green bottle with indented base and shake properly.", + "Use the right arm to pick and shake the smooth green plastic bottle.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Hold and shake the the handheld green bottle carefully.", + "Grab and shake the smooth green plastic bottle using the right arm.", + "Pick the plastic bottle, shake it with the right arm.", + "Hold the medium-sized green bottle and shake it properly.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Catch the medium green bottle and shake it instantly.", + "Pick the bottle with ridges near base up with the right arm and shake.", + "Shake the bottle with white printed label after lifting it.", + "Use the right arm to hold the plastic bottle and shake it.", + "Lift the smooth green bottle and shake it gently.", + "Shake the the bottle with white printed label properly after lifting.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Pick up the handheld green bottle and shake it.", + "Pick the medium green bottle with capped neck up using the right arm and shake it.", + "Shake the bottle with rounded neck after grabbing it.", + "Grab the smooth green plastic bottle and give it a shake.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Lift the medium green bottle with capped neck with the right arm and shake it.", + "Secure the handheld green bottle and perform a shake.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Grasp the plastic bottle with the right arm and shake it.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Lift up the plastic bottle using the right arm, then shake.", + "Grip the smooth green plastic bottle using the right arm and shake.", + "Use the right arm to grab the green bottle with indented base and shake properly.", + "Use the right arm to lift and shake the smooth green bottle.", + "Shake the green bottle with indented base using the right arm after grabbing.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Grab the green bottle with indented base using the right arm, then shake.", + "Hold the medium-sized green bottle, shake it briefly.", + "Grab the medium green bottle carefully and shake.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Utilize the right arm to hold the green bottle with indented base and shake it.", + "Take the smooth green plastic bottle using the right arm and give it a shake.", + "Lift the smooth green bottle with the right arm and give it a shake.", + "Lift the bottle with ridges near base with the right arm and shake.", + "Shake the medium green bottle after grabbing it.", + "Grab the medium-sized green bottle with the right arm and shake." + ], + "unseen": [ + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode138.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode138.json new file mode 100644 index 0000000000000000000000000000000000000000..9e41ac0b2328113432003fb489feec02dba12a9e --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode138.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the long thin bottle.", + "Lift the long thin bottle and shake it thoroughly.", + "Shake the long thin bottle after grabbing it.", + "Shake the plastic drink bottle after holding it firmly.", + "Secure the narrow-necked bottle and perform a shake.", + "Pick up the dark drink bottle with logo and shake it well.", + "Utilize the right arm to hold the red-capped bottle and shake it.", + "Take the Coca-Cola bottle using the right arm and give it a shake.", + "Grab the long thin bottle and shake it steadily.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Hold and shake the the plastic drink bottle carefully.", + "Shake the hand-sized soda bottle after grabbing it.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Pick the red-capped bottle and perform shaking motion.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Shake the bottle with white neck and red top after grabbing it.", + "With the right arm, pick the brown bottle with red label and shake properly.", + "Use the right arm to grab the hand-sized soda bottle and shake it.", + "Grasp the brown bottle with red label with the right arm and shake it.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Shake the medium dark brown bottle after lifting it.", + "Grab the Coca-Cola bottle carefully and shake.", + "Pick up the narrow-necked bottle and shake it.", + "Lift the narrow-necked bottle with the right arm and shake.", + "Grab the brown bottle with red label and give it a shake.", + "Lift up the smooth bottle with red lid using the right arm, then shake.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Pick the narrow-necked bottle, shake it with the right arm.", + "Pick the brown bottle with red label up using the right arm and shake it.", + "Grab the long thin bottle and move it to shake.", + "Using the right arm, shake the hand-sized soda bottle and then place it back.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Grab the dark drink bottle with logo with the right arm and shake.", + "Lift the smooth bottle with red lid and shake it gently.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Grab the bottle with white neck and red top using the right arm, then shake.", + "Lift the narrow-necked bottle with the right arm and shake it.", + "Grip the Coca-Cola bottle using the right arm and shake.", + "Use the right arm to grab the medium dark brown bottle and shake properly.", + "Hold the narrow-necked bottle with the right arm and shake lightly.", + "Use the right arm to hold the long thin bottle and shake it.", + "Grab and shake the brown bottle with red label using the right arm.", + "Use the right arm to pick and shake the plastic drink bottle.", + "Shake the narrow-necked bottle using the right arm after grabbing.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Shake the plastic drink bottle firmly after grabbing.", + "Lift the Coca-Cola bottle with the right arm and give it a shake.", + "Hold the red-capped bottle, shake it briefly.", + "Pick the brown bottle with red label up with the right arm and shake.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Shake the smooth bottle with red lid after grabbing it.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Secure the red-capped bottle and perform a shake.", + "Pick up the bottle with white neck and red top and shake it well.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Take the dark drink bottle with logo using the right arm and give it a shake.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Hold and shake the the plastic drink bottle carefully.", + "Shake the narrow-necked bottle after grabbing it.", + "Catch the medium dark brown bottle and shake it instantly.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Use the right arm to lift and shake the red-capped bottle.", + "Shake the brown bottle with red label after grabbing it.", + "With the right arm, pick the bottle with white neck and red top and shake properly.", + "Use the right arm to grab the medium dark brown bottle and shake it.", + "Grasp the narrow-necked bottle with the right arm and shake it.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Shake the Coca-Cola bottle after lifting it.", + "Grab the hand-sized soda bottle carefully and shake.", + "Pick up the brown bottle with red label and shake it.", + "Lift the red-capped bottle with the right arm and shake.", + "Grab the long thin bottle and give it a shake.", + "Lift up the bottle with ridges on bottom using the right arm, then shake.", + "Shake the the long thin bottle properly after lifting.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Pick the smooth bottle with red lid, shake it with the right arm.", + "Pick the brown bottle with red label up using the right arm and shake it.", + "Grab the Coca-Cola bottle and move it to shake.", + "Using the right arm, shake the medium dark brown bottle and then place it back.", + "Hold the Coca-Cola bottle and shake it properly.", + "Grab the Coca-Cola bottle with the right arm and shake.", + "Lift the hand-sized soda bottle and shake it gently.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Grab the medium dark brown bottle using the right arm, then shake.", + "Lift the medium dark brown bottle with the right arm and shake it.", + "Grip the dark drink bottle with logo using the right arm and shake.", + "Use the right arm to grab the Coca-Cola bottle and shake properly.", + "Hold the hand-sized soda bottle with the right arm and shake lightly.", + "Use the right arm to hold the long thin bottle and shake it.", + "Grab and shake the red-capped bottle using the right arm.", + "Use the right arm to pick and shake the brown bottle with red label.", + "Shake the red-capped bottle using the right arm after grabbing.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Lift the bottle with ridges on bottom with the right arm and give it a shake.", + "Hold the plastic drink bottle, shake it briefly.", + "Pick the red-capped bottle up with the right arm and shake." + ], + "unseen": [ + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode139.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode139.json new file mode 100644 index 0000000000000000000000000000000000000000..972b92c9e87817ab6c99f1c6fc966bad1474b160 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode139.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Utilize the left arm to hold the bottle with rounded neck and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Pick up the smooth green bottle and shake it well.", + "Use the left arm to pick and shake the medium green bottle with capped neck.", + "Shake the bottle with narrow top after holding it firmly.", + "Pick the medium-sized green bottle up using the left arm and shake it.", + "Grab the green bottle with indented base carefully and shake.", + "Lift the bottle with ridges near base with the left arm and give it a shake.", + "Use the left arm to hold the green bottle with indented base and shake it.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Pick up the medium green bottle and shake it.", + "Using the left arm, shake the medium green bottle and then place it back.", + "Shake the smooth green bottle firmly after grabbing.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Grip the medium green bottle with capped neck using the left arm and shake.", + "Lift the smooth green bottle and shake it gently.", + "Catch the medium green bottle and shake it instantly.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Lift up the bottle with narrow top using the left arm, then shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Grasp the bottle with ridges near base with the left arm and shake it.", + "Use the left arm to grab the bottle with white printed label and shake it.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the smooth green bottle.", + "Shake the green bottle with indented base after grabbing it.", + "Hold the medium green bottle with capped neck with the left arm and shake lightly.", + "Hold the bottle with ridges near base, shake it briefly.", + "Lift the bottle with rounded neck with the left arm and shake.", + "Grab the bottle with ridges near base and shake it steadily.", + "With the left arm, pick the handheld green bottle and shake properly.", + "Grab the medium-sized green bottle using the left arm, then shake.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Take the medium green bottle using the left arm and give it a shake.", + "Lift the medium green bottle with capped neck with the left arm and shake it.", + "Pick the bottle with rounded neck, shake it with the left arm.", + "Pick the medium green bottle up with the left arm and shake.", + "Hold the smooth green plastic bottle and shake it properly.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Shake the the smooth green bottle properly after lifting.", + "Secure the medium-sized green bottle and perform a shake.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Hold the handheld green bottle steady, then shake it.", + "Shake the bottle with narrow top using the left arm after grabbing.", + "Grab and shake the bottle with narrow top using the left arm.", + "Shake the medium green bottle with capped neck after lifting it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Grab the bottle with white printed label and give it a shake.", + "Grab the bottle with ridges near base with the left arm and shake.", + "Utilize the left arm to hold the bottle with rounded neck and shake it.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Pick up the bottle with ridges near base and shake it well.", + "Use the left arm to pick and shake the plastic bottle.", + "Shake the bottle with white printed label after holding it firmly.", + "Pick the medium-sized green bottle up using the left arm and shake it.", + "Grab the plastic bottle carefully and shake.", + "Lift the bottle with rounded neck with the left arm and give it a shake.", + "Use the left arm to hold the bottle with white printed label and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake properly.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Pick up the bottle with ridges near base and shake it.", + "Using the left arm, shake the bottle with narrow top and then place it back.", + "Shake the bottle with narrow top firmly after grabbing.", + "Secure the handheld green bottle, shake it, and place it down.", + "Pick the smooth green bottle and perform shaking motion.", + "Grip the bottle with rounded neck using the left arm and shake.", + "Lift the medium green bottle and shake it gently.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Lift up the bottle with ridges near base using the left arm, then shake.", + "Shake the bottle with ridges near base after grabbing it.", + "Grasp the bottle with white printed label with the left arm and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake it.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Shake the bottle with ridges near base after grabbing it.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Lift the green bottle with indented base with the left arm and shake.", + "Grab the smooth green bottle and shake it steadily.", + "With the left arm, pick the green bottle with indented base and shake properly.", + "Grab the bottle with narrow top using the left arm, then shake.", + "Grab the smooth green plastic bottle and move it to shake.", + "Take the smooth green bottle using the left arm and give it a shake.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Pick the bottle with ridges near base, shake it with the left arm.", + "Pick the medium-sized green bottle up with the left arm and shake.", + "Hold the bottle with white printed label and shake it properly.", + "Hold and shake the the bottle with narrow top carefully.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Secure the medium-sized green bottle and perform a shake.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Hold the medium-sized green bottle steady, then shake it.", + "Shake the green bottle with indented base using the left arm after grabbing.", + "Grab and shake the medium green bottle using the left arm.", + "Shake the bottle with white printed label after lifting it.", + "Shake the green bottle with indented base after grabbing it.", + "Grab the plastic bottle and give it a shake.", + "Grab the bottle with ridges near base with the left arm and shake." + ], + "unseen": [ + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode14.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..03ef94d3380b0e6053cd4b1370d058b410518815 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the green bottle with indented base after lifting it.", + "Grip the handheld green bottle using the left arm and shake.", + "Shake the bottle with ridges near base after holding it firmly.", + "Lift up the smooth green plastic bottle using the left arm, then shake.", + "Grab the green bottle with indented base carefully and shake.", + "Use the left arm to hold the bottle with ridges near base and shake it.", + "Lift the bottle with white printed label with the left arm and give it a shake.", + "Hold and shake the the medium-sized green bottle carefully.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Grab the medium green bottle and move it to shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Pick the smooth green plastic bottle up using the left arm and shake it.", + "Pick up the plastic bottle and shake it.", + "Grab the medium-sized green bottle with the left arm and shake.", + "Use the left arm to pick and shake the plastic bottle.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Shake the medium green bottle after grabbing it.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Pick the green bottle with indented base up with the left arm and shake.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Pick the plastic bottle, shake it with the left arm.", + "Use the left arm to grab the smooth green bottle and shake it.", + "Take the medium green bottle using the left arm and give it a shake.", + "Using the left arm, shake the green bottle with indented base and then place it back.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Lift the plastic bottle with the left arm and shake it.", + "Shake the plastic bottle using the left arm after grabbing.", + "Use the left arm to lift and shake the plastic bottle.", + "Hold the smooth green plastic bottle steady, then shake it.", + "With the left arm, pick the smooth green plastic bottle and shake properly.", + "Grasp the bottle with narrow top with the left arm and shake it.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Pick up the bottle with white printed label and shake it well.", + "Shake the bottle with ridges near base after grabbing it.", + "Lift the plastic bottle and shake it thoroughly.", + "Secure the bottle with rounded neck and perform a shake.", + "Shake the the green bottle with indented base properly after lifting.", + "Lift the bottle with white printed label and shake it gently.", + "Hold the smooth green bottle, shake it briefly.", + "Use the left arm to grab the medium green bottle with capped neck and shake properly.", + "Lift the medium green bottle with capped neck with the left arm and shake.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Grab and shake the green bottle with indented base using the left arm.", + "Hold the bottle with rounded neck with the left arm and shake lightly.", + "Grab the smooth green plastic bottle using the left arm, then shake.", + "Grab the medium green bottle and shake it steadily.", + "Shake the bottle with white printed label after lifting it.", + "Grip the medium green bottle using the left arm and shake.", + "Shake the medium-sized green bottle after holding it firmly.", + "Lift up the medium green bottle using the left arm, then shake.", + "Grab the smooth green bottle carefully and shake.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Lift the smooth green plastic bottle with the left arm and give it a shake.", + "Hold and shake the the medium-sized green bottle carefully.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Grab the smooth green plastic bottle and move it to shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Grab the plastic bottle and give it a shake.", + "Pick the green bottle with indented base up using the left arm and shake it.", + "Pick up the handheld green bottle and shake it.", + "Grab the smooth green plastic bottle with the left arm and shake.", + "Use the left arm to pick and shake the green bottle with indented base.", + "Pick the medium green bottle and perform shaking motion.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Shake the medium-sized green bottle after grabbing it.", + "Shake the bottle with narrow top firmly after grabbing.", + "Pick the bottle with rounded neck up with the left arm and shake.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Pick the medium green bottle, shake it with the left arm.", + "Use the left arm to grab the smooth green plastic bottle and shake it.", + "Take the medium green bottle using the left arm and give it a shake.", + "Using the left arm, shake the bottle with ridges near base and then place it back.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Lift the bottle with rounded neck with the left arm and shake it.", + "Shake the green bottle with indented base using the left arm after grabbing.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Hold the bottle with rounded neck steady, then shake it.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Grasp the smooth green bottle with the left arm and shake it.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Pick up the handheld green bottle and shake it well.", + "Shake the bottle with narrow top after grabbing it.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Secure the medium green bottle and perform a shake.", + "Shake the the bottle with rounded neck properly after lifting.", + "Lift the bottle with narrow top and shake it gently.", + "Hold the green bottle with indented base, shake it briefly.", + "Use the left arm to grab the medium green bottle with capped neck and shake properly.", + "Lift the plastic bottle with the left arm and shake.", + "Hold the handheld green bottle and shake it properly.", + "Grab and shake the smooth green plastic bottle using the left arm.", + "Hold the bottle with white printed label with the left arm and shake lightly.", + "Grab the bottle with narrow top using the left arm, then shake.", + "Grab the bottle with narrow top and shake it steadily." + ], + "unseen": [ + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode140.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode140.json new file mode 100644 index 0000000000000000000000000000000000000000..5a2961a4f57345ab6c44627c600776565bc29e29 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode140.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the bottle with ridges on bottom and shake it properly.", + "Shake the brown bottle with red label firmly after grabbing.", + "Catch the red-capped bottle and shake it instantly.", + "Grab the red-capped bottle with the right arm and shake.", + "Hold and shake the the narrow-necked bottle carefully.", + "Pick the narrow-necked bottle up with the right arm and shake.", + "Take the medium dark brown bottle using the right arm and give it a shake.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Lift up the bottle with white neck and red top using the right arm, then shake.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Grasp the medium dark brown bottle with the right arm and shake it.", + "Shake the long thin bottle after holding it firmly.", + "Use the right arm to grab the bottle with white neck and red top and shake properly.", + "Secure the Coca-Cola bottle and perform a shake.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Hold the long thin bottle steady, then shake it.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Hold the hand-sized soda bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Lift the red-capped bottle and shake it gently.", + "Grab the Coca-Cola bottle and give it a shake.", + "Grab the plastic drink bottle using the right arm, then shake.", + "Utilize the right arm to hold the bottle with ridges on bottom and shake it.", + "Using the right arm, shake the long thin bottle and then place it back.", + "Shake the long thin bottle after grabbing it.", + "Grab the narrow-necked bottle carefully and shake.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Lift the brown bottle with red label with the right arm and give it a shake.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Lift the bottle with white neck and red top with the right arm and shake.", + "Grab the hand-sized soda bottle and move it to shake.", + "Pick up the long thin bottle and shake it well.", + "Pick the Coca-Cola bottle up using the right arm and shake it.", + "Shake the the brown bottle with red label properly after lifting.", + "With the right arm, pick the hand-sized soda bottle and shake properly.", + "Use the right arm to hold the long thin bottle and shake it.", + "Shake the bottle with white neck and red top after grabbing it.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Grab and shake the plastic drink bottle using the right arm.", + "Shake the Coca-Cola bottle after grabbing it.", + "Shake the bottle with ridges on bottom using the right arm after grabbing.", + "Use the right arm to grab the bottle with white neck and red top and shake it.", + "Use the right arm to pick and shake the medium dark brown bottle.", + "Pick up the bottle with white neck and red top and shake it.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Lift the dark drink bottle with logo with the right arm and shake it.", + "Shake the plastic drink bottle after lifting it.", + "Lift the red-capped bottle and shake it thoroughly.", + "Hold the long thin bottle and shake it properly.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Grab the bottle with white neck and red top with the right arm and shake.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Pick the brown bottle with red label up with the right arm and shake.", + "Take the smooth bottle with red lid using the right arm and give it a shake.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Lift up the brown bottle with red label using the right arm, then shake.", + "Grip the red-capped bottle using the right arm and shake.", + "Hold the brown bottle with red label, shake it briefly.", + "Grasp the Coca-Cola bottle with the right arm and shake it.", + "Shake the narrow-necked bottle after holding it firmly.", + "Use the right arm to grab the brown bottle with red label and shake properly.", + "Secure the long thin bottle and perform a shake.", + "Grab the plastic drink bottle and shake it steadily.", + "Hold the red-capped bottle steady, then shake it.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Hold the bottle with white neck and red top with the right arm and shake lightly.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Grab the bottle with white neck and red top and give it a shake.", + "Grab the long thin bottle using the right arm, then shake.", + "Utilize the right arm to hold the dark drink bottle with logo and shake it.", + "Using the right arm, shake the medium dark brown bottle and then place it back.", + "Shake the medium dark brown bottle after grabbing it.", + "Grab the narrow-necked bottle carefully and shake.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Lift the smooth bottle with red lid with the right arm and shake.", + "Grab the smooth bottle with red lid and move it to shake.", + "Pick up the long thin bottle and shake it well.", + "Pick the red-capped bottle up using the right arm and shake it.", + "Shake the the brown bottle with red label properly after lifting.", + "With the right arm, pick the plastic drink bottle and shake properly.", + "Use the right arm to hold the red-capped bottle and shake it.", + "Shake the narrow-necked bottle after grabbing it.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Grab and shake the dark drink bottle with logo using the right arm.", + "Shake the narrow-necked bottle after grabbing it.", + "Shake the Coca-Cola bottle using the right arm after grabbing.", + "Use the right arm to grab the bottle with ridges on bottom and shake it.", + "Use the right arm to pick and shake the bottle with ridges on bottom.", + "Pick up the bottle with ridges on bottom and shake it.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Pick the bottle with white neck and red top, shake it with the right arm.", + "Lift the red-capped bottle with the right arm and shake it.", + "Shake the dark drink bottle with logo after lifting it.", + "Lift the hand-sized soda bottle and shake it thoroughly." + ], + "unseen": [ + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode141.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode141.json new file mode 100644 index 0000000000000000000000000000000000000000..ce930320ebb529dc2541dbad258caec8f2192124 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode141.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the red-capped bottle and shake it well.", + "Lift up the red-capped bottle using the left arm, then shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Grasp the narrow-necked bottle with the left arm and shake it.", + "Lift the narrow-necked bottle and shake it gently.", + "Lift the plastic drink bottle with the left arm and shake it.", + "Grab and shake the red-capped bottle using the left arm.", + "Hold the Coca-Cola bottle, shake it briefly.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Grab the hand-sized soda bottle using the left arm, then shake.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Grab the medium dark brown bottle with the left arm and shake.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Grab the medium dark brown bottle carefully and shake.", + "Grab the smooth bottle with red lid and give it a shake.", + "Shake the long thin bottle after grabbing it.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Pick up the bottle with ridges on bottom and shake it.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Grip the red-capped bottle using the left arm and shake.", + "Use the left arm to grab the bottle with ridges on bottom and shake properly.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Using the left arm, shake the dark drink bottle with logo and then place it back.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Shake the smooth bottle with red lid using the left arm after grabbing.", + "Pick the dark drink bottle with logo up with the left arm and shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Pick the dark drink bottle with logo, shake it with the left arm.", + "Pick the plastic drink bottle and perform shaking motion.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Use the left arm to hold the Coca-Cola bottle and shake it.", + "Shake the medium dark brown bottle after lifting it.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Hold and shake the the long thin bottle carefully.", + "Hold the narrow-necked bottle and shake it properly.", + "Pick the dark drink bottle with logo up using the left arm and shake it.", + "Grab the bottle with white neck and red top and move it to shake.", + "Use the left arm to pick and shake the red-capped bottle.", + "Hold the medium dark brown bottle with the left arm and shake lightly.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Catch the medium dark brown bottle and shake it instantly.", + "Lift the plastic drink bottle with the left arm and shake.", + "Take the long thin bottle using the left arm and give it a shake.", + "Secure the dark drink bottle with logo and perform a shake.", + "Use the left arm to grab the dark drink bottle with logo and shake it.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Shake the long thin bottle after holding it firmly.", + "Pick up the Coca-Cola bottle and shake it well.", + "Lift up the red-capped bottle using the left arm, then shake.", + "Shake the bottle with white neck and red top after grabbing it.", + "Grasp the bottle with white neck and red top with the left arm and shake it.", + "Lift the brown bottle with red label and shake it gently.", + "Lift the red-capped bottle with the left arm and shake it.", + "Grab and shake the narrow-necked bottle using the left arm.", + "Hold the red-capped bottle, shake it briefly.", + "With the left arm, pick the hand-sized soda bottle and shake properly.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Grab the plastic drink bottle using the left arm, then shake.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Grab the smooth bottle with red lid with the left arm and shake.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Grab the smooth bottle with red lid carefully and shake.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Hold the medium dark brown bottle steady, then shake it.", + "Pick up the dark drink bottle with logo and shake it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Grip the narrow-necked bottle using the left arm and shake.", + "Use the left arm to grab the plastic drink bottle and shake properly.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Using the left arm, shake the bottle with white neck and red top and then place it back.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Pick the medium dark brown bottle up with the left arm and shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Pick the dark drink bottle with logo, shake it with the left arm.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Lift the red-capped bottle and shake it thoroughly.", + "Use the left arm to hold the hand-sized soda bottle and shake it.", + "Shake the red-capped bottle after lifting it.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Hold and shake the the red-capped bottle carefully.", + "Hold the narrow-necked bottle and shake it properly.", + "Pick the long thin bottle up using the left arm and shake it.", + "Grab the smooth bottle with red lid and move it to shake.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Hold the narrow-necked bottle with the left arm and shake lightly.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Catch the plastic drink bottle and shake it instantly.", + "Lift the smooth bottle with red lid with the left arm and shake.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Secure the brown bottle with red label and perform a shake.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Shake the smooth bottle with red lid after holding it firmly." + ], + "unseen": [ + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode142.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode142.json new file mode 100644 index 0000000000000000000000000000000000000000..e23f9c5fa384b9193d6167fb076ffda9e37a292e --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode142.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the red-capped bottle and shake it steadily.", + "Hold the narrow-necked bottle steady, then shake it.", + "Use the right arm to pick and shake the bottle with white neck and red top.", + "Hold the red-capped bottle, shake it briefly.", + "Lift up the dark drink bottle with logo using the right arm, then shake.", + "Pick the red-capped bottle, shake it with the right arm.", + "Shake the red-capped bottle after grabbing it.", + "Grip the Coca-Cola bottle using the right arm and shake.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Grab the medium dark brown bottle carefully and shake.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Catch the plastic drink bottle and shake it instantly.", + "Pick the dark drink bottle with logo up with the right arm and shake.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Use the right arm to hold the long thin bottle and shake it.", + "Take the red-capped bottle using the right arm and give it a shake.", + "Shake the red-capped bottle after holding it firmly.", + "Grasp the Coca-Cola bottle with the right arm and shake it.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Use the right arm to grab the bottle with ridges on bottom and shake it.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Grab the medium dark brown bottle and give it a shake.", + "Pick up the medium dark brown bottle and shake it.", + "Grab the bottle with white neck and red top with the right arm and shake.", + "Shake the plastic drink bottle after grabbing it.", + "Hold and shake the the medium dark brown bottle carefully.", + "Lift the plastic drink bottle and shake it gently.", + "Hold the dark drink bottle with logo and shake it properly.", + "Pick the brown bottle with red label up using the right arm and shake it.", + "Shake the narrow-necked bottle after grabbing it.", + "Pick the red-capped bottle and perform shaking motion.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Hold the bottle with ridges on bottom with the right arm and shake lightly.", + "Lift the bottle with white neck and red top with the right arm and give it a shake.", + "Use the right arm to grab the hand-sized soda bottle and shake properly.", + "Shake the narrow-necked bottle using the right arm after grabbing.", + "Shake the long thin bottle after lifting it.", + "Grab the narrow-necked bottle using the right arm, then shake.", + "Pick up the medium dark brown bottle and shake it well.", + "Lift the medium dark brown bottle with the right arm and shake it.", + "Grab and shake the plastic drink bottle using the right arm.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Lift the red-capped bottle with the right arm and shake.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Using the right arm, shake the long thin bottle and then place it back.", + "Grab the long thin bottle and move it to shake.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Hold the plastic drink bottle steady, then shake it.", + "Use the right arm to pick and shake the medium dark brown bottle.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Lift up the long thin bottle using the right arm, then shake.", + "Pick the red-capped bottle, shake it with the right arm.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Grab the medium dark brown bottle carefully and shake.", + "Use the right arm to lift and shake the red-capped bottle.", + "Catch the red-capped bottle and shake it instantly.", + "Pick the bottle with white neck and red top up with the right arm and shake.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Use the right arm to hold the hand-sized soda bottle and shake it.", + "Take the long thin bottle using the right arm and give it a shake.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Grasp the dark drink bottle with logo with the right arm and shake it.", + "Utilize the right arm to hold the bottle with ridges on bottom and shake it.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Use the right arm to grab the bottle with white neck and red top and shake it.", + "With the right arm, pick the long thin bottle and shake properly.", + "Grab the bottle with white neck and red top and give it a shake.", + "Pick up the dark drink bottle with logo and shake it.", + "Grab the brown bottle with red label with the right arm and shake.", + "Shake the long thin bottle after grabbing it.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Lift the Coca-Cola bottle and shake it gently.", + "Hold the dark drink bottle with logo and shake it properly.", + "Pick the smooth bottle with red lid up using the right arm and shake it.", + "Shake the smooth bottle with red lid after grabbing it.", + "Pick the plastic drink bottle and perform shaking motion.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Hold the narrow-necked bottle with the right arm and shake lightly.", + "Lift the hand-sized soda bottle with the right arm and give it a shake.", + "Use the right arm to grab the narrow-necked bottle and shake properly.", + "Shake the hand-sized soda bottle using the right arm after grabbing.", + "Shake the bottle with ridges on bottom after lifting it.", + "Grab the dark drink bottle with logo using the right arm, then shake.", + "Pick up the plastic drink bottle and shake it well.", + "Lift the hand-sized soda bottle with the right arm and shake it.", + "Grab and shake the long thin bottle using the right arm.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Secure the long thin bottle and perform a shake.", + "Lift the bottle with white neck and red top with the right arm and shake.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Using the right arm, shake the red-capped bottle and then place it back.", + "Grab the dark drink bottle with logo and move it to shake." + ], + "unseen": [ + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode143.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode143.json new file mode 100644 index 0000000000000000000000000000000000000000..c23be22799ab3f4c077629654c0a9310d4bd91b1 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode143.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the medium green bottle steady, then shake it.", + "Grab the handheld green bottle using the left arm, then shake.", + "Using the left arm, shake the medium green bottle and then place it back.", + "Grip the medium green bottle with capped neck using the left arm and shake.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Use the left arm to pick and shake the bottle with ridges near base.", + "Use the left arm to lift and shake the handheld green bottle.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Lift the handheld green bottle with the left arm and shake it.", + "Pick the medium green bottle and perform shaking motion.", + "Grab the handheld green bottle carefully and shake.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Shake the handheld green bottle after grabbing it.", + "Grab the green bottle with indented base and give it a shake.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Use the left arm to hold the bottle with white printed label and shake it.", + "Grasp the medium-sized green bottle with the left arm and shake it.", + "Hold and shake the the handheld green bottle carefully.", + "Utilize the left arm to hold the medium-sized green bottle and shake it.", + "Hold the smooth green plastic bottle and shake it properly.", + "Lift the medium green bottle with the left arm and shake.", + "Pick the medium-sized green bottle, shake it with the left arm.", + "Catch the handheld green bottle and shake it instantly.", + "Shake the medium green bottle with capped neck after lifting it.", + "With the left arm, pick the handheld green bottle and shake properly.", + "Take the bottle with rounded neck using the left arm and give it a shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Lift the smooth green plastic bottle and shake it gently.", + "Grab the green bottle with indented base and shake it steadily.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Use the left arm to grab the medium-sized green bottle and shake properly.", + "Shake the green bottle with indented base after grabbing it.", + "Pick the medium green bottle with capped neck up with the left arm and shake.", + "Hold the bottle with white printed label with the left arm and shake lightly.", + "Grab the smooth green bottle with the left arm and shake.", + "Pick up the bottle with rounded neck and shake it well.", + "Hold the green bottle with indented base, shake it briefly.", + "Use the left arm to grab the handheld green bottle and shake it.", + "Pick the smooth green bottle up using the left arm and shake it.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Grab and shake the medium-sized green bottle using the left arm.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Grab the plastic bottle and move it to shake.", + "Lift up the handheld green bottle using the left arm, then shake.", + "Pick up the bottle with rounded neck and shake it.", + "Shake the medium green bottle using the left arm after grabbing.", + "Shake the medium-sized green bottle after holding it firmly.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Secure the bottle with rounded neck and perform a shake.", + "Hold the bottle with ridges near base steady, then shake it.", + "Grab the plastic bottle using the left arm, then shake.", + "Using the left arm, shake the bottle with rounded neck and then place it back.", + "Grip the medium-sized green bottle using the left arm and shake.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Use the left arm to pick and shake the bottle with rounded neck.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Lift the medium green bottle with capped neck with the left arm and shake it.", + "Pick the medium green bottle and perform shaking motion.", + "Grab the medium-sized green bottle carefully and shake.", + "Lift the smooth green plastic bottle with the left arm and give it a shake.", + "Shake the bottle with narrow top after grabbing it.", + "Grab the smooth green bottle and give it a shake.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Grasp the bottle with rounded neck with the left arm and shake it.", + "Hold and shake the the bottle with narrow top carefully.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Hold the medium green bottle and shake it properly.", + "Lift the bottle with rounded neck with the left arm and shake.", + "Pick the bottle with ridges near base, shake it with the left arm.", + "Catch the medium-sized green bottle and shake it instantly.", + "Shake the bottle with ridges near base after lifting it.", + "With the left arm, pick the bottle with white printed label and shake properly.", + "Take the smooth green plastic bottle using the left arm and give it a shake.", + "Shake the medium green bottle after grabbing it.", + "Lift the bottle with narrow top and shake it gently.", + "Grab the green bottle with indented base and shake it steadily.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Use the left arm to grab the green bottle with indented base and shake properly.", + "Shake the green bottle with indented base after grabbing it.", + "Pick the bottle with white printed label up with the left arm and shake.", + "Hold the handheld green bottle with the left arm and shake lightly.", + "Grab the bottle with ridges near base with the left arm and shake.", + "Pick up the green bottle with indented base and shake it well.", + "Hold the green bottle with indented base, shake it briefly.", + "Use the left arm to grab the medium green bottle and shake it.", + "Pick the medium green bottle with capped neck up using the left arm and shake it.", + "Lift the smooth green bottle and shake it thoroughly.", + "Grab and shake the smooth green bottle using the left arm.", + "Shake the the bottle with rounded neck properly after lifting.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Lift up the bottle with rounded neck using the left arm, then shake.", + "Pick up the medium green bottle with capped neck and shake it.", + "Shake the plastic bottle using the left arm after grabbing.", + "Shake the smooth green bottle after holding it firmly.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Secure the bottle with narrow top and perform a shake." + ], + "unseen": [ + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode144.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode144.json new file mode 100644 index 0000000000000000000000000000000000000000..db6fc993f362be9c799260db7dd0b552ba431f89 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode144.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the bottle with white printed label and shake it instantly.", + "Utilize the left arm to hold the medium green bottle with capped neck and shake it.", + "Grab the smooth green bottle and move it to shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Pick up the bottle with narrow top and shake it well.", + "Lift up the medium-sized green bottle using the left arm, then shake.", + "With the left arm, pick the bottle with white printed label and shake properly.", + "Hold the bottle with white printed label with the left arm and shake lightly.", + "Shake the bottle with ridges near base after holding it firmly.", + "Use the left arm to pick and shake the green bottle with indented base.", + "Lift the plastic bottle with the left arm and shake.", + "Grab the bottle with narrow top with the left arm and shake.", + "Pick up the green bottle with indented base and shake it.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Shake the green bottle with indented base after grabbing it.", + "Shake the medium-sized green bottle after grabbing it.", + "Use the left arm to grab the handheld green bottle and shake it.", + "Using the left arm, shake the smooth green plastic bottle and then place it back.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Shake the handheld green bottle using the left arm after grabbing.", + "Grab the bottle with white printed label and give it a shake.", + "Use the left arm to grab the bottle with white printed label and shake properly.", + "Hold and shake the the medium-sized green bottle carefully.", + "Pick the bottle with white printed label up using the left arm and shake it.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Grab the bottle with ridges near base using the left arm, then shake.", + "Grab the bottle with rounded neck and shake it steadily.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Shake the smooth green plastic bottle after lifting it.", + "Lift the green bottle with indented base and shake it gently.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Grab and shake the plastic bottle using the left arm.", + "Take the smooth green bottle using the left arm and give it a shake.", + "Grip the bottle with narrow top using the left arm and shake.", + "Hold the medium-sized green bottle and shake it properly.", + "Secure the medium green bottle and perform a shake.", + "Use the left arm to hold the bottle with narrow top and shake it.", + "Lift the medium green bottle and shake it thoroughly.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Shake the the bottle with ridges near base properly after lifting.", + "Grab the smooth green bottle carefully and shake.", + "Pick the bottle with narrow top up with the left arm and shake.", + "Use the left arm to lift and shake the smooth green bottle.", + "Grasp the handheld green bottle with the left arm and shake it.", + "Hold the smooth green bottle, shake it briefly.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Lift the plastic bottle with the left arm and shake it.", + "Catch the bottle with narrow top and shake it instantly.", + "Utilize the left arm to hold the smooth green plastic bottle and shake it.", + "Grab the bottle with white printed label and move it to shake.", + "Shake the bottle with narrow top after grabbing it.", + "Pick up the bottle with white printed label and shake it well.", + "Lift up the medium-sized green bottle using the left arm, then shake.", + "With the left arm, pick the handheld green bottle and shake properly.", + "Hold the handheld green bottle with the left arm and shake lightly.", + "Shake the bottle with ridges near base after holding it firmly.", + "Use the left arm to pick and shake the bottle with rounded neck.", + "Lift the handheld green bottle with the left arm and shake.", + "Grab the smooth green plastic bottle with the left arm and shake.", + "Pick up the smooth green plastic bottle and shake it.", + "Secure the medium green bottle, shake it, and place it down.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Shake the medium-sized green bottle after grabbing it.", + "Shake the medium-sized green bottle after grabbing it.", + "Use the left arm to grab the smooth green bottle and shake it.", + "Using the left arm, shake the bottle with ridges near base and then place it back.", + "Lift the bottle with ridges near base with the left arm and give it a shake.", + "Shake the medium-sized green bottle using the left arm after grabbing.", + "Grab the medium-sized green bottle and give it a shake.", + "Use the left arm to grab the bottle with narrow top and shake properly.", + "Hold and shake the the smooth green bottle carefully.", + "Pick the handheld green bottle up using the left arm and shake it.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Grab the smooth green plastic bottle using the left arm, then shake.", + "Grab the plastic bottle and shake it steadily.", + "Pick the bottle with white printed label, shake it with the left arm.", + "Hold the bottle with ridges near base steady, then shake it.", + "Shake the smooth green bottle after lifting it.", + "Lift the handheld green bottle and shake it gently.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Grab and shake the medium green bottle using the left arm.", + "Take the medium green bottle using the left arm and give it a shake.", + "Grip the green bottle with indented base using the left arm and shake.", + "Hold the bottle with narrow top and shake it properly.", + "Secure the smooth green plastic bottle and perform a shake.", + "Use the left arm to hold the smooth green plastic bottle and shake it.", + "Lift the plastic bottle and shake it thoroughly.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Grab the medium-sized green bottle carefully and shake.", + "Pick the plastic bottle up with the left arm and shake.", + "Use the left arm to lift and shake the smooth green bottle.", + "Grasp the bottle with rounded neck with the left arm and shake it.", + "Hold the medium green bottle with capped neck, shake it briefly.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Lift the bottle with white printed label with the left arm and shake it." + ], + "unseen": [ + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode145.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode145.json new file mode 100644 index 0000000000000000000000000000000000000000..02acb37d02d7d0ea9ab2b29f45850ce2df524719 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode145.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the red-capped bottle up with the left arm and shake.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Shake the the plastic drink bottle properly after lifting.", + "With the left arm, pick the smooth bottle with red lid and shake properly.", + "Use the left arm to hold the bottle with ridges on bottom and shake it.", + "Pick up the red-capped bottle and shake it.", + "Use the left arm to grab the medium dark brown bottle and shake properly.", + "Grip the Coca-Cola bottle using the left arm and shake.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Lift the Coca-Cola bottle and shake it gently.", + "Shake the narrow-necked bottle after holding it firmly.", + "Grab the smooth bottle with red lid and give it a shake.", + "Pick up the bottle with white neck and red top and shake it well.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Hold the brown bottle with red label and shake it properly.", + "Use the left arm to pick and shake the medium dark brown bottle.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Shake the red-capped bottle firmly after grabbing.", + "Use the left arm to grab the dark drink bottle with logo and shake it.", + "Hold the narrow-necked bottle, shake it briefly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Lift the dark drink bottle with logo with the left arm and give it a shake.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Shake the red-capped bottle after grabbing it.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Grab the brown bottle with red label carefully and shake.", + "Take the Coca-Cola bottle using the left arm and give it a shake.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Lift the red-capped bottle with the left arm and shake it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grab the plastic drink bottle with the left arm and shake.", + "Lift the long thin bottle with the left arm and shake.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Use the left arm to lift and shake the long thin bottle.", + "Shake the bottle with ridges on bottom after lifting it.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Using the left arm, shake the red-capped bottle and then place it back.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Secure the narrow-necked bottle and perform a shake.", + "Grab the dark drink bottle with logo using the left arm, then shake.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Lift up the narrow-necked bottle using the left arm, then shake.", + "Pick the medium dark brown bottle up with the left arm and shake.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Shake the the smooth bottle with red lid properly after lifting.", + "With the left arm, pick the dark drink bottle with logo and shake properly.", + "Use the left arm to hold the bottle with white neck and red top and shake it.", + "Pick up the smooth bottle with red lid and shake it.", + "Use the left arm to grab the long thin bottle and shake properly.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Grab the smooth bottle with red lid and move it to shake.", + "Lift the hand-sized soda bottle and shake it gently.", + "Shake the red-capped bottle after holding it firmly.", + "Grab the plastic drink bottle and give it a shake.", + "Pick up the hand-sized soda bottle and shake it well.", + "Grab and shake the medium dark brown bottle using the left arm.", + "Hold the Coca-Cola bottle and shake it properly.", + "Use the left arm to pick and shake the brown bottle with red label.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Shake the red-capped bottle using the left arm after grabbing.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Shake the plastic drink bottle firmly after grabbing.", + "Use the left arm to grab the smooth bottle with red lid and shake it.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Shake the narrow-necked bottle after grabbing it.", + "Lift the medium dark brown bottle with the left arm and give it a shake.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Shake the long thin bottle after grabbing it.", + "Hold the plastic drink bottle steady, then shake it.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Take the brown bottle with red label using the left arm and give it a shake.", + "Catch the narrow-necked bottle and shake it instantly.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Pick the smooth bottle with red lid, shake it with the left arm.", + "Lift the bottle with ridges on bottom with the left arm and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grab the medium dark brown bottle with the left arm and shake.", + "Lift the Coca-Cola bottle with the left arm and shake.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Shake the narrow-necked bottle after lifting it.", + "Hold the hand-sized soda bottle with the left arm and shake lightly.", + "Using the left arm, shake the bottle with white neck and red top and then place it back.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Secure the red-capped bottle and perform a shake.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Lift up the Coca-Cola bottle using the left arm, then shake." + ], + "unseen": [ + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode146.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode146.json new file mode 100644 index 0000000000000000000000000000000000000000..63b51ae835dcf406257e0b0fa91bba0c62b13961 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode146.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Utilize the left arm to hold the bottle with white neck and red top and shake it.", + "Pick the medium dark brown bottle, shake it with the left arm.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Grab the long thin bottle and give it a shake.", + "Take the brown bottle with red label using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Pick up the smooth bottle with red lid and shake it.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Using the left arm, shake the smooth bottle with red lid and then place it back.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Shake the dark drink bottle with logo after grabbing it.", + "Pick up the dark drink bottle with logo and shake it well.", + "Shake the long thin bottle after grabbing it.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Pick the hand-sized soda bottle up using the left arm and shake it.", + "Shake the red-capped bottle firmly after grabbing.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Use the left arm to grab the smooth bottle with red lid and shake it.", + "Use the left arm to grab the bottle with ridges on bottom and shake properly.", + "Grip the bottle with white neck and red top using the left arm and shake.", + "Use the left arm to pick and shake the long thin bottle.", + "Lift the long thin bottle with the left arm and shake it.", + "Grab and shake the bottle with white neck and red top using the left arm.", + "Secure the smooth bottle with red lid and perform a shake.", + "Shake the red-capped bottle after lifting it.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Grab the narrow-necked bottle with the left arm and shake.", + "Hold the long thin bottle, shake it briefly.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Hold the dark drink bottle with logo and shake it properly.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Pick the plastic drink bottle up with the left arm and shake.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Shake the the long thin bottle properly after lifting.", + "Hold and shake the the smooth bottle with red lid carefully.", + "With the left arm, pick the medium dark brown bottle and shake properly.", + "Grab the bottle with white neck and red top and move it to shake.", + "Lift up the long thin bottle using the left arm, then shake.", + "Use the left arm to hold the long thin bottle and shake it.", + "Grab the narrow-necked bottle and shake it steadily.", + "Lift the smooth bottle with red lid with the left arm and shake.", + "Lift the narrow-necked bottle and shake it gently.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Grasp the Coca-Cola bottle with the left arm and shake it.", + "Lift the long thin bottle with the left arm and give it a shake.", + "Grab the Coca-Cola bottle and give it a shake.", + "Take the brown bottle with red label using the left arm and give it a shake.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Pick up the Coca-Cola bottle and shake it.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Using the left arm, shake the medium dark brown bottle and then place it back.", + "Hold the red-capped bottle with the left arm and shake lightly.", + "Shake the smooth bottle with red lid using the left arm after grabbing.", + "Shake the bottle with white neck and red top after grabbing it.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Shake the long thin bottle after grabbing it.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Use the left arm to lift and shake the red-capped bottle.", + "Use the left arm to grab the smooth bottle with red lid and shake it.", + "Use the left arm to grab the red-capped bottle and shake properly.", + "Grip the Coca-Cola bottle using the left arm and shake.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Lift the long thin bottle with the left arm and shake it.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Secure the bottle with white neck and red top and perform a shake.", + "Shake the medium dark brown bottle after lifting it.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Hold the brown bottle with red label, shake it briefly.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Hold the plastic drink bottle steady, then shake it.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Pick the red-capped bottle and perform shaking motion.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "Grab the long thin bottle using the left arm, then shake.", + "Shake the brown bottle with red label after grabbing it.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Shake the the narrow-necked bottle properly after lifting.", + "Hold and shake the the smooth bottle with red lid carefully.", + "With the left arm, pick the dark drink bottle with logo and shake properly.", + "Grab the brown bottle with red label and move it to shake.", + "Lift up the narrow-necked bottle using the left arm, then shake.", + "Use the left arm to hold the smooth bottle with red lid and shake it.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Lift the brown bottle with red label with the left arm and shake.", + "Lift the smooth bottle with red lid and shake it gently." + ], + "unseen": [ + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode147.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode147.json new file mode 100644 index 0000000000000000000000000000000000000000..f2698c082cdf6e379aaeb5b2751095e7b2aa33cb --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode147.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the red-capped bottle.", + "Hold and shake the the medium dark brown bottle carefully.", + "Utilize the left arm to hold the narrow-necked bottle and shake it.", + "Grab the plastic drink bottle and move it to shake.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Shake the the medium dark brown bottle properly after lifting.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Grip the narrow-necked bottle using the left arm and shake.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Grab the dark drink bottle with logo using the left arm, then shake.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Lift the bottle with ridges on bottom with the left arm and give it a shake.", + "Grab the brown bottle with red label with the left arm and shake.", + "Hold the narrow-necked bottle, shake it briefly.", + "Shake the plastic drink bottle after grabbing it.", + "Pick up the plastic drink bottle and shake it.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Lift the narrow-necked bottle and shake it gently.", + "Lift up the bottle with white neck and red top using the left arm, then shake.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Pick the bottle with white neck and red top, shake it with the left arm.", + "Grab and shake the long thin bottle using the left arm.", + "Pick up the bottle with white neck and red top and shake it well.", + "With the left arm, pick the dark drink bottle with logo and shake properly.", + "Use the left arm to hold the hand-sized soda bottle and shake it.", + "Use the left arm to lift and shake the red-capped bottle.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Shake the plastic drink bottle firmly after grabbing.", + "Shake the plastic drink bottle after holding it firmly.", + "Grab the Coca-Cola bottle carefully and shake.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Take the long thin bottle using the left arm and give it a shake.", + "Shake the plastic drink bottle after lifting it.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Use the left arm to grab the plastic drink bottle and shake properly.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Hold the long thin bottle and shake it properly.", + "Shake the plastic drink bottle after grabbing it.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Utilize the left arm to hold the narrow-necked bottle and shake it.", + "Grab the narrow-necked bottle and move it to shake.", + "Grab the medium dark brown bottle and shake it steadily.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Grab the plastic drink bottle and give it a shake.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Grip the long thin bottle using the left arm and shake.", + "Secure the red-capped bottle and perform a shake.", + "Grab the medium dark brown bottle using the left arm, then shake.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Grab the hand-sized soda bottle with the left arm and shake.", + "Hold the narrow-necked bottle, shake it briefly.", + "Shake the medium dark brown bottle after grabbing it.", + "Pick up the smooth bottle with red lid and shake it.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Lift the Coca-Cola bottle with the left arm and shake.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Pick the brown bottle with red label up with the left arm and shake.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Shake the narrow-necked bottle after grabbing it.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Grab and shake the smooth bottle with red lid using the left arm.", + "Pick up the smooth bottle with red lid and shake it well.", + "With the left arm, pick the red-capped bottle and shake properly.", + "Use the left arm to hold the dark drink bottle with logo and shake it.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Grasp the hand-sized soda bottle with the left arm and shake it.", + "Use the left arm to lift and shake the red-capped bottle.", + "Using the left arm, shake the medium dark brown bottle and then place it back.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Shake the brown bottle with red label after holding it firmly.", + "Grab the dark drink bottle with logo carefully and shake.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Take the red-capped bottle using the left arm and give it a shake.", + "Shake the dark drink bottle with logo after lifting it.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Pick the hand-sized soda bottle up using the left arm and shake it.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Lift the bottle with ridges on bottom with the left arm and shake it.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Use the left arm to grab the red-capped bottle and shake it.", + "Hold the brown bottle with red label and shake it properly.", + "Shake the brown bottle with red label after grabbing it.", + "Use the left arm to pick and shake the bottle with ridges on bottom." + ], + "unseen": [ + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode148.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode148.json new file mode 100644 index 0000000000000000000000000000000000000000..3c80b21d40212e0ef8af0215b7f8b7a2e1db169c --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode148.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Hold the narrow-necked bottle with the left arm and shake lightly.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Shake the red-capped bottle after holding it firmly.", + "Use the left arm to hold the red-capped bottle and shake it.", + "Hold the brown bottle with red label steady, then shake it.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Hold the brown bottle with red label, shake it briefly.", + "Shake the red-capped bottle after lifting it.", + "Utilize the left arm to hold the plastic drink bottle and shake it.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "With the left arm, pick the long thin bottle and shake properly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grab the bottle with white neck and red top carefully and shake.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Grab the bottle with white neck and red top with the left arm and shake.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Secure the plastic drink bottle and perform a shake.", + "Pick the long thin bottle up with the left arm and shake.", + "Pick the plastic drink bottle up using the left arm and shake it.", + "Lift the dark drink bottle with logo with the left arm and give it a shake.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Grab the brown bottle with red label and shake it steadily.", + "Pick up the dark drink bottle with logo and shake it.", + "Grab the long thin bottle and move it to shake.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Hold and shake the the narrow-necked bottle carefully.", + "Use the left arm to lift and shake the red-capped bottle.", + "Use the left arm to pick and shake the red-capped bottle.", + "Shake the red-capped bottle using the left arm after grabbing.", + "Lift the medium dark brown bottle and shake it gently.", + "Pick up the medium dark brown bottle and shake it well.", + "Pick the bottle with ridges on bottom, shake it with the left arm.", + "Grab the narrow-necked bottle and give it a shake.", + "Using the left arm, shake the smooth bottle with red lid and then place it back.", + "Shake the hand-sized soda bottle after grabbing it.", + "Lift up the medium dark brown bottle using the left arm, then shake.", + "Use the left arm to grab the dark drink bottle with logo and shake it.", + "Shake the brown bottle with red label after grabbing it.", + "Lift the brown bottle with red label with the left arm and shake.", + "Hold the medium dark brown bottle and shake it properly.", + "Use the left arm to lift and shake the long thin bottle.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Grip the bottle with ridges on bottom using the left arm and shake.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "Shake the brown bottle with red label firmly after grabbing.", + "Take the bottle with white neck and red top using the left arm and give it a shake.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Shake the plastic drink bottle after holding it firmly.", + "Use the left arm to hold the narrow-necked bottle and shake it.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Hold the narrow-necked bottle, shake it briefly.", + "Shake the medium dark brown bottle after lifting it.", + "Utilize the left arm to hold the brown bottle with red label and shake it.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Shake the long thin bottle thoroughly after grabbing it.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Shake the plastic drink bottle after grabbing it.", + "Grab the Coca-Cola bottle carefully and shake.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Pick the red-capped bottle up with the left arm and shake.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Pick up the narrow-necked bottle and shake it.", + "Grab the smooth bottle with red lid and move it to shake.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Catch the brown bottle with red label and shake it instantly.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Use the left arm to pick and shake the hand-sized soda bottle.", + "Shake the brown bottle with red label using the left arm after grabbing.", + "Lift the Coca-Cola bottle and shake it gently.", + "Pick up the smooth bottle with red lid and shake it well.", + "Pick the medium dark brown bottle, shake it with the left arm.", + "Grab the long thin bottle and give it a shake.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Shake the bottle with white neck and red top after grabbing it.", + "Lift up the medium dark brown bottle using the left arm, then shake.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Shake the smooth bottle with red lid after grabbing it.", + "Lift the narrow-necked bottle with the left arm and shake.", + "Hold the dark drink bottle with logo and shake it properly.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Grab the red-capped bottle using the left arm, then shake.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Lift the bottle with ridges on bottom with the left arm and shake it.", + "Shake the brown bottle with red label firmly after grabbing.", + "Take the plastic drink bottle using the left arm and give it a shake." + ], + "unseen": [ + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode149.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode149.json new file mode 100644 index 0000000000000000000000000000000000000000..89fa76b3c92150212752b41537d5f3a318ac739a --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode149.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the hand-sized soda bottle and perform a shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Pick up the smooth bottle with red lid and shake it.", + "Use the right arm to hold the brown bottle with red label and shake it.", + "Shake the bottle with white neck and red top using the right arm after grabbing.", + "Pick the red-capped bottle up with the right arm and shake.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Use the right arm to pick and shake the brown bottle with red label.", + "Lift the long thin bottle and shake it thoroughly.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Utilize the right arm to hold the red-capped bottle and shake it.", + "Lift up the brown bottle with red label using the right arm, then shake.", + "Grab the brown bottle with red label and shake it steadily.", + "Grab the long thin bottle with the right arm and shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Lift the red-capped bottle and shake it gently.", + "Pick the plastic drink bottle, shake it with the right arm.", + "Grab the plastic drink bottle and move it to shake.", + "Grab the brown bottle with red label using the right arm, then shake.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Use the right arm to grab the dark drink bottle with logo and shake it.", + "Hold the medium dark brown bottle, shake it briefly.", + "Pick the hand-sized soda bottle up using the right arm and shake it.", + "Lift the bottle with ridges on bottom with the right arm and give it a shake.", + "Take the narrow-necked bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Lift the smooth bottle with red lid with the right arm and shake.", + "With the right arm, pick the long thin bottle and shake properly.", + "Grab and shake the red-capped bottle using the right arm.", + "Hold the brown bottle with red label and shake it properly.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Use the right arm to lift and shake the long thin bottle.", + "Lift the bottle with ridges on bottom with the right arm and shake it.", + "Shake the the red-capped bottle properly after lifting.", + "Use the right arm to grab the red-capped bottle and shake properly.", + "Grip the narrow-necked bottle using the right arm and shake.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Grasp the red-capped bottle with the right arm and shake it.", + "Shake the long thin bottle after lifting it.", + "Hold the bottle with ridges on bottom with the right arm and shake lightly.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Using the right arm, shake the red-capped bottle and then place it back.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Shake the plastic drink bottle firmly after grabbing.", + "Pick up the brown bottle with red label and shake it well.", + "Secure the plastic drink bottle and perform a shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Pick up the smooth bottle with red lid and shake it.", + "Use the right arm to hold the plastic drink bottle and shake it.", + "Shake the smooth bottle with red lid using the right arm after grabbing.", + "Pick the bottle with ridges on bottom up with the right arm and shake.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Use the right arm to pick and shake the red-capped bottle.", + "Lift the red-capped bottle and shake it thoroughly.", + "Grab the plastic drink bottle and give it a shake.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Lift up the smooth bottle with red lid using the right arm, then shake.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Grab the medium dark brown bottle with the right arm and shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Lift the bottle with white neck and red top and shake it gently.", + "Pick the brown bottle with red label, shake it with the right arm.", + "Grab the brown bottle with red label and move it to shake.", + "Grab the bottle with ridges on bottom using the right arm, then shake.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Use the right arm to grab the plastic drink bottle and shake it.", + "Hold the red-capped bottle, shake it briefly.", + "Pick the smooth bottle with red lid up using the right arm and shake it.", + "Lift the hand-sized soda bottle with the right arm and give it a shake.", + "Take the Coca-Cola bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Lift the dark drink bottle with logo with the right arm and shake.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Grab and shake the brown bottle with red label using the right arm.", + "Hold the medium dark brown bottle and shake it properly.", + "Shake the hand-sized soda bottle after grabbing it.", + "Catch the plastic drink bottle and shake it instantly.", + "Hold the plastic drink bottle steady, then shake it.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Lift the long thin bottle with the right arm and shake it.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Use the right arm to grab the Coca-Cola bottle and shake properly.", + "Grip the brown bottle with red label using the right arm and shake.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Grasp the medium dark brown bottle with the right arm and shake it.", + "Shake the medium dark brown bottle after lifting it.", + "Hold the bottle with ridges on bottom with the right arm and shake lightly.", + "Grab the dark drink bottle with logo carefully and shake.", + "Using the right arm, shake the smooth bottle with red lid and then place it back.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Pick up the bottle with white neck and red top and shake it well." + ], + "unseen": [ + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the right arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode15.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..81a45f4afa83faf1dfd82b75a0c56c6ad5f58bca --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the medium green bottle, shake it briefly.", + "Use the right arm to lift and shake the medium green bottle.", + "Shake the bottle with white printed label firmly after grabbing.", + "Lift the green bottle with indented base with the right arm and give it a shake.", + "Use the right arm to hold the medium green bottle with capped neck and shake it.", + "Shake the handheld green bottle after holding it firmly.", + "Grip the smooth green plastic bottle using the right arm and shake.", + "Lift the bottle with white printed label with the right arm and shake.", + "Grab the bottle with white printed label and move it to shake.", + "Take the bottle with white printed label using the right arm and give it a shake.", + "Lift up the medium green bottle using the right arm, then shake.", + "Hold the medium green bottle steady, then shake it.", + "Pick the medium-sized green bottle up using the right arm and shake it.", + "Grab the medium-sized green bottle with the right arm and shake.", + "Use the right arm to grab the smooth green plastic bottle and shake properly.", + "Grab the bottle with ridges near base carefully and shake.", + "Use the right arm to grab the green bottle with indented base and shake it.", + "Pick the medium green bottle with capped neck up with the right arm and shake.", + "Using the right arm, shake the bottle with white printed label and then place it back.", + "Grab the medium green bottle and shake it steadily.", + "Shake the smooth green bottle after lifting it.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Pick the smooth green bottle, shake it with the right arm.", + "Lift the bottle with white printed label with the right arm and shake it.", + "Lift the green bottle with indented base and shake it thoroughly.", + "With the right arm, pick the bottle with ridges near base and shake properly.", + "Pick up the medium-sized green bottle and shake it well.", + "Shake the the medium-sized green bottle properly after lifting.", + "Grab the bottle with white printed label and give it a shake.", + "Hold the medium green bottle with capped neck with the right arm and shake lightly.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Lift the medium green bottle and shake it gently.", + "Shake the plastic bottle after grabbing it.", + "Grab the plastic bottle using the right arm, then shake.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the medium green bottle.", + "Grasp the handheld green bottle with the right arm and shake it.", + "Grab and shake the green bottle with indented base using the right arm.", + "Shake the smooth green bottle after grabbing it.", + "Shake the handheld green bottle using the right arm after grabbing.", + "Secure the medium green bottle and perform a shake.", + "Hold and shake the the medium-sized green bottle carefully.", + "Use the right arm to pick and shake the bottle with ridges near base.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Catch the green bottle with indented base and shake it instantly.", + "Shake the smooth green bottle after grabbing it.", + "Pick up the handheld green bottle and shake it.", + "Utilize the right arm to hold the medium green bottle with capped neck and shake it.", + "Hold the bottle with rounded neck, shake it briefly.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Shake the handheld green bottle firmly after grabbing.", + "Lift the smooth green bottle with the right arm and give it a shake.", + "Use the right arm to hold the smooth green plastic bottle and shake it.", + "Shake the bottle with white printed label after holding it firmly.", + "Grip the smooth green plastic bottle using the right arm and shake.", + "Lift the bottle with white printed label with the right arm and shake.", + "Grab the bottle with ridges near base and move it to shake.", + "Take the bottle with rounded neck using the right arm and give it a shake.", + "Lift up the medium green bottle using the right arm, then shake.", + "Hold the bottle with rounded neck steady, then shake it.", + "Pick the bottle with ridges near base up using the right arm and shake it.", + "Grab the green bottle with indented base with the right arm and shake.", + "Use the right arm to grab the smooth green plastic bottle and shake properly.", + "Grab the bottle with narrow top carefully and shake.", + "Use the right arm to grab the medium-sized green bottle and shake it.", + "Pick the medium green bottle up with the right arm and shake.", + "Using the right arm, shake the green bottle with indented base and then place it back.", + "Grab the handheld green bottle and shake it steadily.", + "Shake the bottle with narrow top after lifting it.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Hold the bottle with white printed label and shake it properly.", + "Pick the smooth green bottle, shake it with the right arm.", + "Lift the handheld green bottle with the right arm and shake it.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "With the right arm, pick the plastic bottle and shake properly.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Shake the the handheld green bottle properly after lifting.", + "Grab the medium green bottle and give it a shake.", + "Hold the medium green bottle with capped neck with the right arm and shake lightly.", + "Pick the bottle with white printed label and perform shaking motion.", + "Lift the medium-sized green bottle and shake it gently.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Grab the smooth green bottle using the right arm, then shake.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Use the right arm to lift and shake the smooth green bottle.", + "Grasp the medium green bottle with the right arm and shake it.", + "Grab and shake the plastic bottle using the right arm.", + "Shake the bottle with white printed label after grabbing it.", + "Shake the medium green bottle using the right arm after grabbing.", + "Secure the bottle with rounded neck and perform a shake.", + "Hold and shake the the medium-sized green bottle carefully.", + "Use the right arm to pick and shake the smooth green plastic bottle.", + "Use the right arm to lift and shake the medium green bottle.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Catch the bottle with rounded neck and shake it instantly.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Pick up the plastic bottle and shake it.", + "Utilize the right arm to hold the medium green bottle with capped neck and shake it." + ], + "unseen": [ + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode150.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode150.json new file mode 100644 index 0000000000000000000000000000000000000000..5d12b3e693efbb53222008923a35a43ade188b62 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode150.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the smooth green bottle up with the left arm and shake.", + "Use the left arm to grab the green bottle with indented base and shake it.", + "Shake the plastic bottle after holding it firmly.", + "Shake the plastic bottle after grabbing it.", + "Grab the handheld green bottle using the left arm, then shake.", + "Hold the smooth green bottle and shake it properly.", + "Use the left arm to pick and shake the bottle with rounded neck.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Utilize the left arm to hold the medium-sized green bottle and shake it.", + "Shake the bottle with narrow top using the left arm after grabbing.", + "Hold the medium green bottle with capped neck, shake it briefly.", + "Pick up the handheld green bottle and shake it.", + "Grab the green bottle with indented base and give it a shake.", + "Grab the bottle with white printed label with the left arm and shake.", + "Hold the bottle with rounded neck steady, then shake it.", + "Shake the medium green bottle firmly after grabbing.", + "Grab the smooth green bottle and shake it steadily.", + "Shake the medium-sized green bottle after grabbing it.", + "Pick up the bottle with ridges near base and shake it well.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Grab the smooth green plastic bottle and move it to shake.", + "Using the left arm, shake the medium-sized green bottle and then place it back.", + "Lift up the medium green bottle with capped neck using the left arm, then shake.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Grab and shake the medium-sized green bottle using the left arm.", + "Shake the the bottle with rounded neck properly after lifting.", + "Pick the medium green bottle, shake it with the left arm.", + "Lift the handheld green bottle and shake it gently.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Lift the medium-sized green bottle with the left arm and shake.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Take the plastic bottle using the left arm and give it a shake.", + "With the left arm, pick the bottle with white printed label and shake properly.", + "Grab the bottle with rounded neck carefully and shake.", + "Grasp the bottle with rounded neck with the left arm and shake it.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Shake the plastic bottle after lifting it.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Lift the smooth green plastic bottle with the left arm and shake it.", + "Grip the medium green bottle using the left arm and shake.", + "Use the left arm to hold the bottle with narrow top and shake it.", + "Catch the bottle with rounded neck and shake it instantly.", + "Pick the bottle with ridges near base up using the left arm and shake it.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Use the left arm to lift and shake the handheld green bottle.", + "Hold the smooth green bottle with the left arm and shake lightly.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Pick the smooth green plastic bottle up with the left arm and shake.", + "Use the left arm to grab the handheld green bottle and shake it.", + "Shake the bottle with white printed label after holding it firmly.", + "Shake the medium-sized green bottle after grabbing it.", + "Grab the smooth green plastic bottle using the left arm, then shake.", + "Hold the plastic bottle and shake it properly.", + "Use the left arm to pick and shake the handheld green bottle.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Utilize the left arm to hold the handheld green bottle and shake it.", + "Shake the medium-sized green bottle using the left arm after grabbing.", + "Hold the green bottle with indented base, shake it briefly.", + "Pick up the smooth green bottle and shake it.", + "Grab the bottle with rounded neck and give it a shake.", + "Grab the bottle with ridges near base with the left arm and shake.", + "Hold the medium green bottle steady, then shake it.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Grab the smooth green bottle and shake it steadily.", + "Shake the smooth green plastic bottle after grabbing it.", + "Pick up the plastic bottle and shake it well.", + "Hold and shake the the bottle with narrow top carefully.", + "Pick the medium green bottle and perform shaking motion.", + "Use the left arm to lift and shake the handheld green bottle.", + "Grab the medium green bottle and move it to shake.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Lift up the smooth green plastic bottle using the left arm, then shake.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Grab and shake the medium green bottle with capped neck using the left arm.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Pick the bottle with rounded neck, shake it with the left arm.", + "Lift the handheld green bottle and shake it gently.", + "Lift the medium green bottle with the left arm and give it a shake.", + "Lift the medium green bottle with capped neck with the left arm and shake.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Take the bottle with narrow top using the left arm and give it a shake.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Grab the bottle with rounded neck carefully and shake.", + "Grasp the green bottle with indented base with the left arm and shake it.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Shake the bottle with rounded neck after lifting it.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Grip the plastic bottle using the left arm and shake.", + "Use the left arm to hold the smooth green plastic bottle and shake it.", + "Catch the green bottle with indented base and shake it instantly.", + "Pick the green bottle with indented base up using the left arm and shake it.", + "Secure the handheld green bottle, shake it, and place it down.", + "Secure the bottle with ridges near base and perform a shake.", + "Use the left arm to lift and shake the handheld green bottle.", + "Hold the bottle with white printed label with the left arm and shake lightly.", + "Shake the plastic bottle after grabbing it." + ], + "unseen": [ + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode151.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode151.json new file mode 100644 index 0000000000000000000000000000000000000000..d5f4b36e167912bb2833700d6a83f6f316d8ee60 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode151.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with narrow top after grabbing it.", + "Hold the bottle with white printed label with the left arm and shake lightly.", + "Grip the medium-sized green bottle using the left arm and shake.", + "Pick the medium green bottle, shake it with the left arm.", + "Shake the medium green bottle using the left arm after grabbing.", + "With the left arm, pick the handheld green bottle and shake properly.", + "Shake the the plastic bottle properly after lifting.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Hold the medium-sized green bottle steady, then shake it.", + "Lift the smooth green bottle with the left arm and shake it.", + "Grab the smooth green plastic bottle and give it a shake.", + "Grasp the handheld green bottle with the left arm and shake it.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Hold the bottle with narrow top and shake it properly.", + "Use the left arm to grab the medium green bottle with capped neck and shake it.", + "Lift the medium-sized green bottle with the left arm and give it a shake.", + "Secure the bottle with white printed label and perform a shake.", + "Use the left arm to pick and shake the medium green bottle.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Grab the handheld green bottle with the left arm and shake.", + "Hold and shake the the green bottle with indented base carefully.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Grab the green bottle with indented base carefully and shake.", + "Pick the smooth green bottle up with the left arm and shake.", + "Grab the handheld green bottle using the left arm, then shake.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Shake the bottle with narrow top after lifting it.", + "Use the left arm to hold the bottle with ridges near base and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Lift the smooth green plastic bottle with the left arm and shake.", + "Catch the bottle with white printed label and shake it instantly.", + "Take the medium green bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the medium green bottle.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the handheld green bottle.", + "Pick the plastic bottle up using the left arm and shake it.", + "Lift up the green bottle with indented base using the left arm, then shake.", + "Shake the bottle with white printed label firmly after grabbing.", + "Hold the medium green bottle, shake it briefly.", + "Pick up the handheld green bottle and shake it.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Lift the smooth green bottle and shake it thoroughly.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Pick the handheld green bottle and perform shaking motion.", + "Grab the medium-sized green bottle and move it to shake.", + "Shake the bottle with white printed label after holding it firmly.", + "Pick up the bottle with ridges near base and shake it well.", + "Grab and shake the smooth green bottle using the left arm.", + "Shake the bottle with narrow top after grabbing it.", + "Hold the smooth green bottle with the left arm and shake lightly.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "Pick the smooth green bottle, shake it with the left arm.", + "Shake the bottle with narrow top using the left arm after grabbing.", + "With the left arm, pick the bottle with ridges near base and shake properly.", + "Shake the the green bottle with indented base properly after lifting.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Shake the plastic bottle after grabbing it.", + "Hold the smooth green bottle steady, then shake it.", + "Lift the medium green bottle with capped neck with the left arm and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Grasp the green bottle with indented base with the left arm and shake it.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Grab the handheld green bottle and shake it steadily.", + "Hold the smooth green plastic bottle and shake it properly.", + "Use the left arm to grab the bottle with ridges near base and shake it.", + "Lift the bottle with narrow top with the left arm and give it a shake.", + "Secure the medium green bottle and perform a shake.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Grab the medium-sized green bottle with the left arm and shake.", + "Hold and shake the the handheld green bottle carefully.", + "Use the left arm to lift and shake the smooth green bottle.", + "Grab the plastic bottle carefully and shake.", + "Pick the bottle with rounded neck up with the left arm and shake.", + "Grab the plastic bottle using the left arm, then shake.", + "Using the left arm, shake the medium-sized green bottle and then place it back.", + "Shake the bottle with rounded neck after lifting it.", + "Use the left arm to hold the medium green bottle and shake it.", + "Shake the medium green bottle after grabbing it.", + "Lift the medium green bottle with capped neck with the left arm and shake.", + "Catch the green bottle with indented base and shake it instantly.", + "Take the green bottle with indented base using the left arm and give it a shake.", + "Use the left arm to lift and shake the handheld green bottle.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Pick the bottle with narrow top up using the left arm and shake it.", + "Lift up the bottle with white printed label using the left arm, then shake.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Hold the medium green bottle, shake it briefly.", + "Pick up the plastic bottle and shake it.", + "Use the left arm to grab the medium-sized green bottle and shake properly.", + "Lift the smooth green bottle and shake it thoroughly.", + "Lift the smooth green bottle and shake it gently.", + "Pick the medium green bottle and perform shaking motion.", + "Grab the smooth green bottle and move it to shake.", + "Shake the bottle with ridges near base after holding it firmly.", + "Pick up the plastic bottle and shake it well.", + "Grab and shake the green bottle with indented base using the left arm." + ], + "unseen": [ + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode152.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode152.json new file mode 100644 index 0000000000000000000000000000000000000000..007bc0f028b18c67aac2f33dd9d93c15502e45fa --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode152.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the bottle with white neck and red top using the right arm and give it a shake.", + "Hold the narrow-necked bottle steady, then shake it.", + "Pick the smooth bottle with red lid up using the right arm and shake it.", + "Shake the medium dark brown bottle after grabbing it.", + "Shake the long thin bottle after holding it firmly.", + "Use the right arm to grab the medium dark brown bottle and shake properly.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Grab the medium dark brown bottle carefully and shake.", + "Grab and shake the long thin bottle using the right arm.", + "Use the right arm to grab the hand-sized soda bottle and shake it.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Lift the brown bottle with red label with the right arm and give it a shake.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Grab the medium dark brown bottle and shake it steadily.", + "Hold the bottle with white neck and red top with the right arm and shake lightly.", + "Hold and shake the the red-capped bottle carefully.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Use the right arm to pick and shake the red-capped bottle.", + "Lift up the brown bottle with red label using the right arm, then shake.", + "Shake the smooth bottle with red lid after lifting it.", + "Lift the hand-sized soda bottle and shake it gently.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Use the right arm to hold the red-capped bottle and shake it.", + "Shake the bottle with white neck and red top after grabbing it.", + "Pick the red-capped bottle up with the right arm and shake.", + "With the right arm, pick the smooth bottle with red lid and shake properly.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Grip the hand-sized soda bottle using the right arm and shake.", + "Using the right arm, shake the hand-sized soda bottle and then place it back.", + "Grasp the hand-sized soda bottle with the right arm and shake it.", + "Grab the long thin bottle and move it to shake.", + "Use the right arm to lift and shake the long thin bottle.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Pick up the brown bottle with red label and shake it.", + "Grab the dark drink bottle with logo and give it a shake.", + "Utilize the right arm to hold the hand-sized soda bottle and shake it.", + "Grab the bottle with ridges on bottom with the right arm and shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Shake the smooth bottle with red lid using the right arm after grabbing.", + "Hold the smooth bottle with red lid and shake it properly.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Grab the Coca-Cola bottle using the right arm, then shake.", + "Lift the long thin bottle with the right arm and shake.", + "Lift the smooth bottle with red lid with the right arm and shake it.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Secure the hand-sized soda bottle and perform a shake.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Pick up the brown bottle with red label and shake it well.", + "Take the Coca-Cola bottle using the right arm and give it a shake.", + "Hold the red-capped bottle steady, then shake it.", + "Pick the narrow-necked bottle up using the right arm and shake it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Shake the plastic drink bottle after holding it firmly.", + "Use the right arm to grab the bottle with ridges on bottom and shake properly.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Grab the dark drink bottle with logo carefully and shake.", + "Grab and shake the plastic drink bottle using the right arm.", + "Use the right arm to grab the smooth bottle with red lid and shake it.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Hold the brown bottle with red label with the right arm and shake lightly.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Pick the narrow-necked bottle, shake it with the right arm.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Use the right arm to pick and shake the medium dark brown bottle.", + "Lift up the medium dark brown bottle using the right arm, then shake.", + "Shake the red-capped bottle after lifting it.", + "Lift the bottle with white neck and red top and shake it gently.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Use the right arm to hold the bottle with ridges on bottom and shake it.", + "Shake the narrow-necked bottle after grabbing it.", + "Pick the dark drink bottle with logo up with the right arm and shake.", + "With the right arm, pick the brown bottle with red label and shake properly.", + "Catch the narrow-necked bottle and shake it instantly.", + "Grip the long thin bottle using the right arm and shake.", + "Using the right arm, shake the narrow-necked bottle and then place it back.", + "Grasp the narrow-necked bottle with the right arm and shake it.", + "Grab the smooth bottle with red lid and move it to shake.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Pick up the Coca-Cola bottle and shake it.", + "Grab the long thin bottle and give it a shake.", + "Utilize the right arm to hold the Coca-Cola bottle and shake it.", + "Grab the dark drink bottle with logo with the right arm and shake.", + "Shake the red-capped bottle after grabbing it.", + "Shake the bottle with white neck and red top using the right arm after grabbing.", + "Hold the bottle with white neck and red top and shake it properly.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Grab the smooth bottle with red lid using the right arm, then shake.", + "Lift the bottle with ridges on bottom with the right arm and shake.", + "Lift the long thin bottle with the right arm and shake it.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Secure the brown bottle with red label and perform a shake.", + "Hold the narrow-necked bottle, shake it briefly.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Pick up the hand-sized soda bottle and shake it well." + ], + "unseen": [ + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode153.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode153.json new file mode 100644 index 0000000000000000000000000000000000000000..c165eeb44fb5a239b5a48b591e4343302d62bcda --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode153.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the green bottle with indented base and perform a shake.", + "Catch the bottle with ridges near base and shake it instantly.", + "Lift up the handheld green bottle using the right arm, then shake.", + "Shake the smooth green bottle firmly after grabbing.", + "Shake the smooth green plastic bottle after grabbing it.", + "Use the right arm to grab the bottle with ridges near base and shake properly.", + "Grab the medium-sized green bottle using the right arm, then shake.", + "Grip the medium green bottle using the right arm and shake.", + "Use the right arm to pick and shake the bottle with ridges near base.", + "Shake the medium-sized green bottle using the right arm after grabbing.", + "Pick the bottle with rounded neck up with the right arm and shake.", + "Grab the bottle with rounded neck and move it to shake.", + "Utilize the right arm to hold the green bottle with indented base and shake it.", + "Pick the bottle with ridges near base, shake it with the right arm.", + "Grab the green bottle with indented base and give it a shake.", + "Grab the medium green bottle with capped neck and shake it steadily.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Shake the medium-sized green bottle after holding it firmly.", + "Secure the medium green bottle, shake it, and place it down.", + "Lift the bottle with rounded neck with the right arm and shake.", + "Pick the green bottle with indented base up using the right arm and shake it.", + "Pick up the bottle with narrow top and shake it well.", + "Grab the bottle with white printed label with the right arm and shake.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Grasp the green bottle with indented base with the right arm and shake it.", + "Shake the the handheld green bottle properly after lifting.", + "Hold the bottle with rounded neck, shake it briefly.", + "With the right arm, pick the medium green bottle and shake properly.", + "Using the right arm, shake the medium-sized green bottle and then place it back.", + "Use the right arm to hold the bottle with narrow top and shake it.", + "Shake the medium-sized green bottle after grabbing it.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Shake the green bottle with indented base after lifting it.", + "Grab and shake the handheld green bottle using the right arm.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Grab the bottle with narrow top carefully and shake.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Hold the bottle with white printed label with the right arm and shake lightly.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Pick up the smooth green bottle and shake it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Take the medium green bottle using the right arm and give it a shake.", + "Hold the medium green bottle and shake it properly.", + "Use the right arm to grab the medium green bottle with capped neck and shake it.", + "Lift the bottle with narrow top with the right arm and give it a shake.", + "Lift the medium green bottle with the right arm and shake it.", + "Secure the bottle with rounded neck and perform a shake.", + "Catch the bottle with rounded neck and shake it instantly.", + "Lift up the bottle with ridges near base using the right arm, then shake.", + "Shake the smooth green bottle firmly after grabbing.", + "Shake the smooth green plastic bottle after grabbing it.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Grab the medium green bottle with capped neck using the right arm, then shake.", + "Grip the bottle with ridges near base using the right arm and shake.", + "Use the right arm to pick and shake the plastic bottle.", + "Shake the medium green bottle with capped neck using the right arm after grabbing.", + "Pick the green bottle with indented base up with the right arm and shake.", + "Grab the plastic bottle and move it to shake.", + "Utilize the right arm to hold the medium green bottle with capped neck and shake it.", + "Pick the medium green bottle, shake it with the right arm.", + "Grab the bottle with narrow top and give it a shake.", + "Grab the bottle with white printed label and shake it steadily.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Shake the smooth green bottle after holding it firmly.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Lift the bottle with rounded neck with the right arm and shake.", + "Pick the plastic bottle up using the right arm and shake it.", + "Pick up the bottle with narrow top and shake it well.", + "Grab the medium-sized green bottle with the right arm and shake.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Grasp the plastic bottle with the right arm and shake it.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Hold the green bottle with indented base, shake it briefly.", + "With the right arm, pick the bottle with ridges near base and shake properly.", + "Using the right arm, shake the green bottle with indented base and then place it back.", + "Use the right arm to hold the bottle with white printed label and shake it.", + "Shake the bottle with narrow top after grabbing it.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Shake the handheld green bottle after lifting it.", + "Grab and shake the bottle with white printed label using the right arm.", + "Lift the bottle with white printed label and shake it gently.", + "Grab the bottle with ridges near base carefully and shake.", + "Use the right arm to lift and shake the medium green bottle.", + "Hold the bottle with white printed label steady, then shake it.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Hold the bottle with rounded neck with the right arm and shake lightly.", + "Hold and shake the the bottle with rounded neck carefully.", + "Pick up the handheld green bottle and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Take the bottle with white printed label using the right arm and give it a shake.", + "Hold the bottle with white printed label and shake it properly.", + "Use the right arm to grab the medium green bottle with capped neck and shake it.", + "Lift the medium green bottle with the right arm and give it a shake.", + "Lift the medium green bottle with capped neck with the right arm and shake it." + ], + "unseen": [ + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle with white label and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode154.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode154.json new file mode 100644 index 0000000000000000000000000000000000000000..f0aebdb10de33c58bc1747deee45f530453a5adf --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode154.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the medium green bottle with capped neck after grabbing it.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Lift the bottle with ridges near base with the right arm and shake.", + "Grab the medium green bottle carefully and shake.", + "Grab the medium green bottle and give it a shake.", + "Use the right arm to pick and shake the bottle with narrow top.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Shake the the bottle with narrow top properly after lifting.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Use the right arm to hold the bottle with white printed label and shake it.", + "Shake the medium-sized green bottle after grabbing it.", + "Utilize the right arm to hold the bottle with narrow top and shake it.", + "Hold and shake the the bottle with narrow top carefully.", + "Pick up the medium-sized green bottle and shake it.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Hold the bottle with white printed label, shake it briefly.", + "Pick the smooth green bottle, shake it with the right arm.", + "Grasp the plastic bottle with the right arm and shake it.", + "Use the right arm to grab the medium green bottle and shake properly.", + "Lift the bottle with narrow top and shake it gently.", + "Lift the medium green bottle with capped neck with the right arm and shake it.", + "Lift the handheld green bottle with the right arm and give it a shake.", + "Shake the bottle with narrow top after holding it firmly.", + "Grab the bottle with rounded neck and move it to shake.", + "Grab the smooth green bottle with the right arm and shake.", + "Shake the bottle with rounded neck after lifting it.", + "Grab and shake the smooth green plastic bottle using the right arm.", + "Hold the medium green bottle with capped neck and shake it properly.", + "With the right arm, pick the plastic bottle and shake properly.", + "Take the handheld green bottle using the right arm and give it a shake.", + "Grip the handheld green bottle using the right arm and shake.", + "Secure the medium green bottle, shake it, and place it down.", + "Grab the smooth green plastic bottle using the right arm, then shake.", + "Pick up the medium green bottle and shake it well.", + "Grab the smooth green bottle and shake it steadily.", + "Pick the medium green bottle up using the right arm and shake it.", + "Using the right arm, shake the smooth green plastic bottle and then place it back.", + "Shake the green bottle with indented base firmly after grabbing.", + "Shake the bottle with white printed label using the right arm after grabbing.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to grab the medium green bottle and shake it.", + "Hold the plastic bottle steady, then shake it.", + "Catch the medium green bottle and shake it instantly.", + "Pick the bottle with ridges near base up with the right arm and shake.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Lift up the bottle with narrow top using the right arm, then shake.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Shake the bottle with white printed label after grabbing it.", + "Use the right arm to lift and shake the medium green bottle.", + "Lift the bottle with white printed label with the right arm and shake.", + "Grab the green bottle with indented base carefully and shake.", + "Grab the bottle with white printed label and give it a shake.", + "Use the right arm to pick and shake the bottle with rounded neck.", + "Lift the handheld green bottle and shake it thoroughly.", + "Shake the the bottle with ridges near base properly after lifting.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Use the right arm to hold the bottle with narrow top and shake it.", + "Shake the plastic bottle after grabbing it.", + "Utilize the right arm to hold the smooth green plastic bottle and shake it.", + "Hold and shake the the bottle with white printed label carefully.", + "Pick up the handheld green bottle and shake it.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Pick the bottle with white printed label and perform shaking motion.", + "Hold the smooth green bottle, shake it briefly.", + "Pick the plastic bottle, shake it with the right arm.", + "Grasp the bottle with narrow top with the right arm and shake it.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Lift the smooth green bottle and shake it gently.", + "Lift the bottle with ridges near base with the right arm and shake it.", + "Lift the bottle with ridges near base with the right arm and give it a shake.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Grab the medium-sized green bottle and move it to shake.", + "Grab the medium-sized green bottle with the right arm and shake.", + "Shake the bottle with ridges near base after lifting it.", + "Grab and shake the smooth green bottle using the right arm.", + "Hold the bottle with narrow top and shake it properly.", + "With the right arm, pick the bottle with rounded neck and shake properly.", + "Take the green bottle with indented base using the right arm and give it a shake.", + "Grip the medium green bottle with capped neck using the right arm and shake.", + "Secure the handheld green bottle, shake it, and place it down.", + "Grab the bottle with ridges near base using the right arm, then shake.", + "Pick up the green bottle with indented base and shake it well.", + "Grab the medium green bottle and shake it steadily.", + "Pick the bottle with rounded neck up using the right arm and shake it.", + "Using the right arm, shake the smooth green bottle and then place it back.", + "Shake the green bottle with indented base firmly after grabbing.", + "Shake the handheld green bottle using the right arm after grabbing.", + "Shake the bottle with rounded neck after grabbing it.", + "Use the right arm to grab the bottle with white printed label and shake it.", + "Hold the bottle with ridges near base steady, then shake it.", + "Catch the bottle with narrow top and shake it instantly.", + "Pick the medium-sized green bottle up with the right arm and shake.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Lift up the medium green bottle with capped neck using the right arm, then shake.", + "Hold the bottle with rounded neck with the right arm and shake lightly.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Secure the medium green bottle and perform a shake." + ], + "unseen": [ + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode155.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode155.json new file mode 100644 index 0000000000000000000000000000000000000000..9d9485eaa6f2ea1be2dac9a59f339042a20752f9 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode155.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Hold the bottle with white neck and red top and shake it properly.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Use the left arm to pick and shake the bottle with white neck and red top.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Pick up the long thin bottle and shake it well.", + "Use the left arm to grab the long thin bottle and shake properly.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Grab the hand-sized soda bottle using the left arm, then shake.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Lift the plastic drink bottle with the left arm and shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Shake the the brown bottle with red label properly after lifting.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Grab and shake the dark drink bottle with logo using the left arm.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Lift the narrow-necked bottle and shake it gently.", + "Use the left arm to grab the hand-sized soda bottle and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the brown bottle with red label after lifting it.", + "Grab the narrow-necked bottle carefully and shake.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Use the left arm to lift and shake the long thin bottle.", + "Grab the smooth bottle with red lid and give it a shake.", + "Shake the plastic drink bottle after grabbing it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Pick up the bottle with ridges on bottom and shake it.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Hold the brown bottle with red label with the left arm and shake lightly.", + "Utilize the left arm to hold the dark drink bottle with logo and shake it.", + "Use the left arm to hold the bottle with ridges on bottom and shake it.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "Grab the narrow-necked bottle and move it to shake.", + "Grab the bottle with white neck and red top with the left arm and shake.", + "Secure the red-capped bottle and perform a shake.", + "Lift the long thin bottle and shake it thoroughly.", + "With the left arm, pick the smooth bottle with red lid and shake properly.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Grab the long thin bottle and shake it steadily.", + "Pick the hand-sized soda bottle, shake it with the left arm.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Take the hand-sized soda bottle using the left arm and give it a shake.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Using the left arm, shake the narrow-necked bottle and then place it back.", + "Hold the red-capped bottle and shake it properly.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Use the left arm to pick and shake the plastic drink bottle.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Grip the brown bottle with red label using the left arm and shake.", + "Catch the long thin bottle and shake it instantly.", + "Lift the long thin bottle with the left arm and shake it.", + "Pick up the bottle with white neck and red top and shake it well.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Pick the red-capped bottle up using the left arm and shake it.", + "Grab the long thin bottle using the left arm, then shake.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Lift the narrow-necked bottle with the left arm and shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Shake the the narrow-necked bottle properly after lifting.", + "Lift the medium dark brown bottle with the left arm and give it a shake.", + "Grab and shake the smooth bottle with red lid using the left arm.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Lift the smooth bottle with red lid and shake it gently.", + "Use the left arm to grab the dark drink bottle with logo and shake it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Shake the medium dark brown bottle after lifting it.", + "Grab the Coca-Cola bottle carefully and shake.", + "Hold the plastic drink bottle, shake it briefly.", + "Shake the long thin bottle firmly after grabbing.", + "Use the left arm to lift and shake the long thin bottle.", + "Grab the brown bottle with red label and give it a shake.", + "Shake the long thin bottle after grabbing it.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Shake the bottle with white neck and red top using the left arm after grabbing.", + "Pick up the plastic drink bottle and shake it.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Hold the plastic drink bottle with the left arm and shake lightly.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Pick the narrow-necked bottle up with the left arm and shake.", + "Grab the dark drink bottle with logo and move it to shake.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "With the left arm, pick the brown bottle with red label and shake properly.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Pick the bottle with ridges on bottom, shake it with the left arm.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Take the Coca-Cola bottle using the left arm and give it a shake.", + "Secure the dark drink bottle with logo, shake it, and place it down." + ], + "unseen": [ + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode156.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode156.json new file mode 100644 index 0000000000000000000000000000000000000000..4dc905b69f419c1251a1dae642b2febb2ea9b949 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode156.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to pick and shake the bottle with ridges near base.", + "Grab and shake the smooth green bottle using the left arm.", + "Use the left arm to grab the medium green bottle and shake it.", + "Shake the smooth green bottle using the left arm after grabbing.", + "Pick the bottle with white printed label, shake it with the left arm.", + "Use the left arm to lift and shake the handheld green bottle.", + "Pick the smooth green bottle up with the left arm and shake.", + "Shake the smooth green bottle after lifting it.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Hold the plastic bottle steady, then shake it.", + "Using the left arm, shake the bottle with ridges near base and then place it back.", + "Pick the plastic bottle up using the left arm and shake it.", + "Grab the green bottle with indented base and shake it steadily.", + "Lift the plastic bottle and shake it thoroughly.", + "Shake the bottle with rounded neck after grabbing it.", + "Shake the bottle with ridges near base after grabbing it.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Grasp the bottle with narrow top with the left arm and shake it.", + "Lift the bottle with narrow top with the left arm and give it a shake.", + "Lift up the smooth green plastic bottle using the left arm, then shake.", + "Lift the smooth green bottle with the left arm and shake it.", + "Shake the bottle with ridges near base after holding it firmly.", + "Lift the bottle with narrow top with the left arm and shake.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Hold the plastic bottle and shake it properly.", + "Shake the the plastic bottle properly after lifting.", + "Hold the smooth green bottle, shake it briefly.", + "Use the left arm to hold the medium green bottle with capped neck and shake it.", + "Take the medium-sized green bottle using the left arm and give it a shake.", + "Use the left arm to grab the medium green bottle and shake properly.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Pick up the medium green bottle and shake it.", + "With the left arm, pick the medium green bottle and shake properly.", + "Pick the medium green bottle and perform shaking motion.", + "Grab the medium green bottle with the left arm and shake.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Catch the medium green bottle and shake it instantly.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Shake the smooth green bottle firmly after grabbing.", + "Hold and shake the the bottle with white printed label carefully.", + "Grip the bottle with rounded neck using the left arm and shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Hold the bottle with narrow top with the left arm and shake lightly.", + "Grab the medium green bottle and move it to shake.", + "Secure the bottle with rounded neck and perform a shake.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Utilize the left arm to hold the bottle with rounded neck and shake it.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Use the left arm to pick and shake the smooth green plastic bottle.", + "Grab and shake the bottle with white printed label using the left arm.", + "Use the left arm to grab the bottle with white printed label and shake it.", + "Shake the bottle with narrow top using the left arm after grabbing.", + "Pick the bottle with rounded neck, shake it with the left arm.", + "Use the left arm to lift and shake the handheld green bottle.", + "Pick the handheld green bottle up with the left arm and shake.", + "Shake the handheld green bottle after lifting it.", + "Pick up the bottle with narrow top and shake it well.", + "Hold the bottle with white printed label steady, then shake it.", + "Using the left arm, shake the smooth green plastic bottle and then place it back.", + "Pick the smooth green plastic bottle up using the left arm and shake it.", + "Grab the bottle with narrow top and shake it steadily.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Shake the bottle with narrow top after grabbing it.", + "Shake the bottle with rounded neck after grabbing it.", + "Grab the bottle with rounded neck and give it a shake.", + "Grasp the medium green bottle with the left arm and shake it.", + "Lift the handheld green bottle with the left arm and give it a shake.", + "Lift up the smooth green bottle using the left arm, then shake.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Shake the bottle with narrow top after holding it firmly.", + "Lift the bottle with ridges near base with the left arm and shake.", + "Grab the bottle with white printed label carefully and shake.", + "Hold the smooth green bottle and shake it properly.", + "Shake the the plastic bottle properly after lifting.", + "Hold the medium-sized green bottle, shake it briefly.", + "Use the left arm to hold the bottle with ridges near base and shake it.", + "Take the bottle with narrow top using the left arm and give it a shake.", + "Use the left arm to grab the bottle with narrow top and shake properly.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Pick up the bottle with white printed label and shake it.", + "With the left arm, pick the green bottle with indented base and shake properly.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Grab the smooth green bottle with the left arm and shake.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Catch the plastic bottle and shake it instantly.", + "Grab the plastic bottle using the left arm, then shake.", + "Shake the smooth green bottle firmly after grabbing.", + "Hold and shake the the medium green bottle carefully.", + "Grip the bottle with ridges near base using the left arm and shake.", + "Shake the handheld green bottle after grabbing it.", + "Hold the bottle with white printed label with the left arm and shake lightly.", + "Grab the handheld green bottle and move it to shake.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Lift the bottle with rounded neck and shake it gently.", + "Grab the smooth green bottle firmly, shake it, and put it down." + ], + "unseen": [ + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode157.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode157.json new file mode 100644 index 0000000000000000000000000000000000000000..d23bd53eeee73f95c8c695cbdb654e76367f2217 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode157.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the bottle with white neck and red top and shake it.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Grab the bottle with white neck and red top carefully and shake.", + "Use the right arm to pick and shake the dark drink bottle with logo.", + "Use the right arm to hold the smooth bottle with red lid and shake it.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Lift the red-capped bottle and shake it gently.", + "Grab and shake the medium dark brown bottle using the right arm.", + "Grab the medium dark brown bottle using the right arm, then shake.", + "Grasp the bottle with ridges on bottom with the right arm and shake it.", + "Lift up the dark drink bottle with logo using the right arm, then shake.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Catch the narrow-necked bottle and shake it instantly.", + "Lift the hand-sized soda bottle with the right arm and shake.", + "Use the right arm to grab the bottle with white neck and red top and shake it.", + "Take the long thin bottle using the right arm and give it a shake.", + "Shake the brown bottle with red label after lifting it.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Grab the plastic drink bottle with the right arm and shake.", + "Pick up the hand-sized soda bottle and shake it well.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Secure the plastic drink bottle and perform a shake.", + "Shake the plastic drink bottle firmly after grabbing.", + "Utilize the right arm to hold the hand-sized soda bottle and shake it.", + "Hold the dark drink bottle with logo steady, then shake it.", + "With the right arm, pick the dark drink bottle with logo and shake properly.", + "Hold and shake the the long thin bottle carefully.", + "Lift the Coca-Cola bottle with the right arm and shake it.", + "Shake the long thin bottle after grabbing it.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Grab the bottle with white neck and red top and move it to shake.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Shake the long thin bottle after grabbing it.", + "Grab the plastic drink bottle and give it a shake.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Grab the medium dark brown bottle and shake it steadily.", + "Hold the narrow-necked bottle and shake it properly.", + "Use the right arm to grab the Coca-Cola bottle and shake properly.", + "Hold the brown bottle with red label with the right arm and shake lightly.", + "Grip the Coca-Cola bottle using the right arm and shake.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Pick the plastic drink bottle, shake it with the right arm.", + "Shake the brown bottle with red label after holding it firmly.", + "Pick the long thin bottle up with the right arm and shake.", + "Pick the hand-sized soda bottle up using the right arm and shake it.", + "Using the right arm, shake the long thin bottle and then place it back.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the medium dark brown bottle using the right arm after grabbing.", + "Pick up the narrow-necked bottle and shake it.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Grab the bottle with white neck and red top carefully and shake.", + "Use the right arm to pick and shake the narrow-necked bottle.", + "Use the right arm to hold the narrow-necked bottle and shake it.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Lift the narrow-necked bottle and shake it gently.", + "Grab and shake the brown bottle with red label using the right arm.", + "Grab the Coca-Cola bottle using the right arm, then shake.", + "Grasp the bottle with white neck and red top with the right arm and shake it.", + "Lift up the narrow-necked bottle using the right arm, then shake.", + "Shake the the brown bottle with red label properly after lifting.", + "Catch the plastic drink bottle and shake it instantly.", + "Lift the narrow-necked bottle with the right arm and shake.", + "Use the right arm to grab the Coca-Cola bottle and shake it.", + "Take the medium dark brown bottle using the right arm and give it a shake.", + "Shake the red-capped bottle after lifting it.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Grab the smooth bottle with red lid with the right arm and shake.", + "Pick up the dark drink bottle with logo and shake it well.", + "Use the right arm to lift and shake the long thin bottle.", + "Secure the dark drink bottle with logo and perform a shake.", + "Shake the red-capped bottle firmly after grabbing.", + "Utilize the right arm to hold the red-capped bottle and shake it.", + "Hold the plastic drink bottle steady, then shake it.", + "With the right arm, pick the medium dark brown bottle and shake properly.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Lift the Coca-Cola bottle with the right arm and shake it.", + "Shake the bottle with white neck and red top after grabbing it.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Pick the long thin bottle and perform shaking motion.", + "Shake the brown bottle with red label after grabbing it.", + "Grab the medium dark brown bottle and give it a shake.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Grab the medium dark brown bottle and shake it steadily.", + "Hold the brown bottle with red label and shake it properly.", + "Use the right arm to grab the smooth bottle with red lid and shake properly.", + "Hold the bottle with white neck and red top with the right arm and shake lightly.", + "Grip the plastic drink bottle using the right arm and shake.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Pick the medium dark brown bottle, shake it with the right arm.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Pick the plastic drink bottle up with the right arm and shake.", + "Pick the hand-sized soda bottle up using the right arm and shake it.", + "Using the right arm, shake the smooth bottle with red lid and then place it back.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the bottle with ridges on bottom using the right arm after grabbing." + ], + "unseen": [ + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode158.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode158.json new file mode 100644 index 0000000000000000000000000000000000000000..5799de03c6fef42753873e2c6ff82b03963ff3c8 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode158.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with rounded neck after grabbing it.", + "Grab the bottle with ridges near base and shake it steadily.", + "Pick the bottle with white printed label up using the right arm and shake it.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Shake the plastic bottle firmly after grabbing.", + "Hold the smooth green bottle steady, then shake it.", + "Pick the smooth green bottle and perform shaking motion.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Shake the bottle with ridges near base using the right arm after grabbing.", + "Shake the smooth green plastic bottle after grabbing it.", + "Use the right arm to grab the bottle with rounded neck and shake it.", + "Lift up the plastic bottle using the right arm, then shake.", + "Secure the smooth green bottle, shake it, and place it down.", + "Pick the green bottle with indented base up with the right arm and shake.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Grab and shake the plastic bottle using the right arm.", + "Hold the smooth green plastic bottle and shake it properly.", + "Utilize the right arm to hold the bottle with rounded neck and shake it.", + "Catch the medium-sized green bottle and shake it instantly.", + "Lift the smooth green bottle with the right arm and shake it.", + "Hold and shake the the medium green bottle carefully.", + "Grasp the medium green bottle with the right arm and shake it.", + "Use the right arm to grab the handheld green bottle and shake properly.", + "Pick up the smooth green bottle and shake it well.", + "Lift the handheld green bottle with the right arm and give it a shake.", + "Shake the medium-sized green bottle after holding it firmly.", + "Use the right arm to hold the handheld green bottle and shake it.", + "Shake the bottle with ridges near base after lifting it.", + "Grab the plastic bottle using the right arm, then shake.", + "Grab the smooth green plastic bottle with the right arm and shake.", + "Take the bottle with narrow top using the right arm and give it a shake.", + "Pick up the plastic bottle and shake it.", + "Pick the plastic bottle, shake it with the right arm.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Shake the medium green bottle after grabbing it.", + "With the right arm, pick the medium green bottle with capped neck and shake properly.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Shake the the plastic bottle properly after lifting.", + "Use the right arm to pick and shake the bottle with narrow top.", + "Hold the bottle with narrow top, shake it briefly.", + "Hold the bottle with ridges near base with the right arm and shake lightly.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Grip the medium-sized green bottle using the right arm and shake.", + "Grab the bottle with ridges near base carefully and shake.", + "Lift the bottle with rounded neck with the right arm and shake.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Using the right arm, shake the medium green bottle and then place it back.", + "Shake the bottle with ridges near base after grabbing it.", + "Grab the plastic bottle and shake it steadily.", + "Pick the bottle with narrow top up using the right arm and shake it.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Hold the handheld green bottle steady, then shake it.", + "Pick the plastic bottle and perform shaking motion.", + "Grab the handheld green bottle and move it to shake.", + "Shake the bottle with ridges near base using the right arm after grabbing.", + "Shake the medium green bottle after grabbing it.", + "Use the right arm to grab the bottle with white printed label and shake it.", + "Lift up the bottle with narrow top using the right arm, then shake.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Pick the medium green bottle up with the right arm and shake.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Grab and shake the green bottle with indented base using the right arm.", + "Hold the smooth green plastic bottle and shake it properly.", + "Utilize the right arm to hold the bottle with narrow top and shake it.", + "Catch the medium green bottle and shake it instantly.", + "Lift the bottle with narrow top with the right arm and shake it.", + "Hold and shake the the plastic bottle carefully.", + "Grasp the smooth green plastic bottle with the right arm and shake it.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Pick up the medium-sized green bottle and shake it well.", + "Lift the smooth green plastic bottle with the right arm and give it a shake.", + "Shake the green bottle with indented base after holding it firmly.", + "Use the right arm to hold the medium-sized green bottle and shake it.", + "Shake the bottle with narrow top after lifting it.", + "Grab the plastic bottle using the right arm, then shake.", + "Grab the bottle with rounded neck with the right arm and shake.", + "Take the medium-sized green bottle using the right arm and give it a shake.", + "Pick up the handheld green bottle and shake it.", + "Pick the medium green bottle, shake it with the right arm.", + "Secure the smooth green plastic bottle and perform a shake.", + "Shake the bottle with rounded neck after grabbing it.", + "With the right arm, pick the bottle with rounded neck and shake properly.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Use the right arm to lift and shake the handheld green bottle.", + "Grab the bottle with white printed label and give it a shake.", + "Shake the the bottle with narrow top properly after lifting.", + "Use the right arm to pick and shake the green bottle with indented base.", + "Hold the medium-sized green bottle, shake it briefly.", + "Hold the bottle with ridges near base with the right arm and shake lightly.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Grip the plastic bottle using the right arm and shake.", + "Grab the smooth green plastic bottle carefully and shake.", + "Lift the medium green bottle with capped neck with the right arm and shake.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Using the right arm, shake the medium green bottle with capped neck and then place it back." + ], + "unseen": [ + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode159.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode159.json new file mode 100644 index 0000000000000000000000000000000000000000..6a8070d5dd487b6612d8fea2a247cf7f3275b397 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode159.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with ridges near base carefully and shake.", + "Use the right arm to hold the smooth green plastic bottle and shake it.", + "Shake the medium-sized green bottle after lifting it.", + "Grasp the medium green bottle with capped neck with the right arm and shake it.", + "Grab the bottle with narrow top and give it a shake.", + "Utilize the right arm to hold the green bottle with indented base and shake it.", + "Shake the smooth green bottle after holding it firmly.", + "Lift the medium-sized green bottle and shake it gently.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Hold the medium green bottle and shake it properly.", + "Grab and shake the smooth green plastic bottle using the right arm.", + "Pick up the smooth green plastic bottle and shake it.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Pick the bottle with ridges near base up with the right arm and shake.", + "Use the right arm to grab the medium green bottle with capped neck and shake properly.", + "Grab the handheld green bottle and shake it steadily.", + "With the right arm, pick the bottle with ridges near base and shake properly.", + "Pick up the bottle with rounded neck and shake it well.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Grab the medium green bottle with capped neck with the right arm and shake.", + "Shake the green bottle with indented base firmly after grabbing.", + "Use the right arm to grab the medium green bottle and shake it.", + "Shake the the handheld green bottle properly after lifting.", + "Take the bottle with rounded neck using the right arm and give it a shake.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Shake the smooth green bottle after grabbing it.", + "Hold and shake the the bottle with ridges near base carefully.", + "Hold the bottle with rounded neck with the right arm and shake lightly.", + "Shake the bottle with rounded neck using the right arm after grabbing.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Lift the green bottle with indented base with the right arm and shake.", + "Lift the green bottle with indented base with the right arm and shake it.", + "Lift up the bottle with rounded neck using the right arm, then shake.", + "Shake the handheld green bottle after grabbing it.", + "Pick the smooth green bottle and perform shaking motion.", + "Catch the green bottle with indented base and shake it instantly.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Pick the smooth green plastic bottle, shake it with the right arm.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Grab the medium green bottle using the right arm, then shake.", + "Lift the medium green bottle with the right arm and give it a shake.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Using the right arm, shake the handheld green bottle and then place it back.", + "Grab the handheld green bottle and move it to shake.", + "Secure the medium-sized green bottle and perform a shake.", + "Grip the handheld green bottle using the right arm and shake.", + "Hold the bottle with ridges near base, shake it briefly.", + "Pick the handheld green bottle up using the right arm and shake it.", + "Use the right arm to pick and shake the bottle with rounded neck.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Grab the smooth green bottle carefully and shake.", + "Use the right arm to hold the bottle with narrow top and shake it.", + "Shake the bottle with rounded neck after lifting it.", + "Grasp the medium-sized green bottle with the right arm and shake it.", + "Grab the medium-sized green bottle and give it a shake.", + "Utilize the right arm to hold the bottle with ridges near base and shake it.", + "Shake the medium-sized green bottle after holding it firmly.", + "Lift the handheld green bottle and shake it gently.", + "Hold the plastic bottle steady, then shake it.", + "Hold the smooth green bottle and shake it properly.", + "Grab and shake the medium green bottle with capped neck using the right arm.", + "Pick up the medium green bottle and shake it.", + "Secure the handheld green bottle, shake it, and place it down.", + "Pick the bottle with white printed label up with the right arm and shake.", + "Use the right arm to grab the bottle with narrow top and shake properly.", + "Grab the bottle with rounded neck and shake it steadily.", + "With the right arm, pick the bottle with ridges near base and shake properly.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Use the right arm to lift and shake the smooth green bottle.", + "Grab the green bottle with indented base with the right arm and shake.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Use the right arm to grab the smooth green plastic bottle and shake it.", + "Shake the the medium-sized green bottle properly after lifting.", + "Take the smooth green bottle using the right arm and give it a shake.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Shake the handheld green bottle after grabbing it.", + "Hold and shake the the plastic bottle carefully.", + "Hold the green bottle with indented base with the right arm and shake lightly.", + "Shake the bottle with narrow top using the right arm after grabbing.", + "Shake the bottle with rounded neck after grabbing it.", + "Lift the bottle with ridges near base with the right arm and shake.", + "Lift the bottle with white printed label with the right arm and shake it.", + "Lift up the bottle with ridges near base using the right arm, then shake.", + "Shake the smooth green bottle after grabbing it.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Catch the bottle with white printed label and shake it instantly.", + "Use the right arm to lift and shake the plastic bottle.", + "Pick the medium green bottle, shake it with the right arm.", + "Use the right arm to lift and shake the smooth green bottle.", + "Grab the green bottle with indented base using the right arm, then shake.", + "Lift the handheld green bottle with the right arm and give it a shake.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Using the right arm, shake the handheld green bottle and then place it back.", + "Grab the bottle with rounded neck and move it to shake.", + "Secure the medium green bottle and perform a shake.", + "Grip the medium green bottle using the right arm and shake.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Pick the bottle with white printed label up using the right arm and shake it.", + "Use the right arm to pick and shake the plastic bottle.", + "Lift the medium green bottle with capped neck and shake it thoroughly." + ], + "unseen": [ + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode16.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..8484e19a1204228461b51f58d3197cd2585d39ff --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the smooth green plastic bottle after grabbing it.", + "Use the right arm to hold the medium green bottle and shake it.", + "Grab the bottle with narrow top carefully and shake.", + "Lift the plastic bottle and shake it thoroughly.", + "Lift the bottle with narrow top and shake it gently.", + "Lift the bottle with white printed label with the right arm and give it a shake.", + "Grasp the bottle with white printed label with the right arm and shake it.", + "Using the right arm, shake the bottle with narrow top and then place it back.", + "Hold the smooth green plastic bottle and shake it properly.", + "Use the right arm to grab the bottle with narrow top and shake properly.", + "Grab the handheld green bottle and move it to shake.", + "Use the right arm to pick and shake the smooth green plastic bottle.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Pick the handheld green bottle up using the right arm and shake it.", + "Shake the bottle with narrow top after grabbing it.", + "Secure the green bottle with indented base and perform a shake.", + "Pick the plastic bottle and perform shaking motion.", + "Grab the bottle with ridges near base and shake it steadily.", + "Hold the bottle with narrow top, shake it briefly.", + "Grab and shake the bottle with narrow top using the right arm.", + "Pick up the bottle with narrow top and shake it.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Shake the bottle with white printed label after lifting it.", + "Grip the bottle with ridges near base using the right arm and shake.", + "Take the medium green bottle using the right arm and give it a shake.", + "Pick the plastic bottle, shake it with the right arm.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "With the right arm, pick the smooth green plastic bottle and shake properly.", + "Pick the bottle with ridges near base up with the right arm and shake.", + "Catch the bottle with white printed label and shake it instantly.", + "Shake the the bottle with ridges near base properly after lifting.", + "Shake the green bottle with indented base after holding it firmly.", + "Shake the green bottle with indented base after grabbing it.", + "Use the right arm to lift and shake the smooth green bottle.", + "Grab the bottle with rounded neck using the right arm, then shake.", + "Shake the handheld green bottle using the right arm after grabbing.", + "Pick up the bottle with narrow top and shake it well.", + "Hold the smooth green bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the handheld green bottle.", + "Lift the medium-sized green bottle with the right arm and shake.", + "Lift the green bottle with indented base with the right arm and shake it.", + "Use the right arm to lift and shake the plastic bottle.", + "Hold and shake the the bottle with narrow top carefully.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Lift up the handheld green bottle using the right arm, then shake.", + "Use the right arm to grab the medium green bottle and shake it.", + "Utilize the right arm to hold the bottle with rounded neck and shake it.", + "Grab the smooth green plastic bottle with the right arm and shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Use the right arm to hold the bottle with rounded neck and shake it.", + "Grab the green bottle with indented base carefully and shake.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Lift the green bottle with indented base and shake it gently.", + "Lift the smooth green bottle with the right arm and give it a shake.", + "Grasp the bottle with white printed label with the right arm and shake it.", + "Using the right arm, shake the bottle with ridges near base and then place it back.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Use the right arm to grab the bottle with rounded neck and shake properly.", + "Grab the green bottle with indented base and move it to shake.", + "Use the right arm to pick and shake the bottle with rounded neck.", + "Grab the bottle with rounded neck and give it a shake.", + "Pick the smooth green plastic bottle up using the right arm and shake it.", + "Shake the bottle with narrow top after grabbing it.", + "Secure the medium green bottle and perform a shake.", + "Pick the bottle with narrow top and perform shaking motion.", + "Grab the bottle with white printed label and shake it steadily.", + "Hold the green bottle with indented base, shake it briefly.", + "Grab and shake the medium green bottle with capped neck using the right arm.", + "Pick up the bottle with ridges near base and shake it.", + "Hold the handheld green bottle steady, then shake it.", + "Shake the medium green bottle after lifting it.", + "Grip the bottle with narrow top using the right arm and shake.", + "Take the medium green bottle with capped neck using the right arm and give it a shake.", + "Pick the smooth green bottle, shake it with the right arm.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Secure the plastic bottle, shake it, and place it down.", + "With the right arm, pick the green bottle with indented base and shake properly.", + "Pick the bottle with rounded neck up with the right arm and shake.", + "Catch the medium green bottle and shake it instantly.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Shake the plastic bottle after holding it firmly.", + "Shake the smooth green plastic bottle after grabbing it.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Grab the bottle with narrow top using the right arm, then shake.", + "Shake the plastic bottle using the right arm after grabbing.", + "Pick up the bottle with white printed label and shake it well.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Lift the bottle with white printed label with the right arm and shake.", + "Lift the medium green bottle with capped neck with the right arm and shake it.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Hold and shake the the bottle with rounded neck carefully.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Lift up the bottle with rounded neck using the right arm, then shake.", + "Use the right arm to grab the bottle with rounded neck and shake it.", + "Utilize the right arm to hold the bottle with ridges near base and shake it.", + "Grab the green bottle with indented base with the right arm and shake." + ], + "unseen": [ + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode160.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode160.json new file mode 100644 index 0000000000000000000000000000000000000000..42633a062cc1b8af65f7b3fe5162f4e6b9ce9b30 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode160.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with ridges near base and shake it steadily.", + "Shake the green bottle with indented base after grabbing it.", + "Grab the bottle with narrow top and move it to shake.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Lift the bottle with narrow top with the left arm and shake.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Grab and shake the bottle with rounded neck using the left arm.", + "Hold and shake the the bottle with rounded neck carefully.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Grasp the smooth green plastic bottle with the left arm and shake it.", + "Lift the green bottle with indented base and shake it gently.", + "Take the medium-sized green bottle using the left arm and give it a shake.", + "Hold the medium green bottle with capped neck, shake it briefly.", + "With the left arm, pick the bottle with narrow top and shake properly.", + "Pick the bottle with narrow top, shake it with the left arm.", + "Pick up the plastic bottle and shake it well.", + "Grab the plastic bottle using the left arm, then shake.", + "Use the left arm to lift and shake the smooth green bottle.", + "Grab the bottle with narrow top and give it a shake.", + "Lift up the bottle with white printed label using the left arm, then shake.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Grip the bottle with ridges near base using the left arm and shake.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Use the left arm to pick and shake the bottle with white printed label.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Using the left arm, shake the bottle with ridges near base and then place it back.", + "Pick the bottle with rounded neck up with the left arm and shake.", + "Pick the bottle with ridges near base up using the left arm and shake it.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Shake the handheld green bottle after grabbing it.", + "Lift the bottle with rounded neck with the left arm and shake it.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Catch the bottle with rounded neck and shake it instantly.", + "Pick the smooth green bottle and perform shaking motion.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Shake the the plastic bottle properly after lifting.", + "Shake the handheld green bottle after grabbing it.", + "Lift the bottle with white printed label with the left arm and give it a shake.", + "Grab the bottle with ridges near base with the left arm and shake.", + "Pick up the medium green bottle and shake it.", + "Use the left arm to grab the green bottle with indented base and shake it.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Shake the plastic bottle after lifting it.", + "Grab the smooth green bottle carefully and shake.", + "Shake the medium green bottle using the left arm after grabbing.", + "Secure the smooth green plastic bottle and perform a shake.", + "Hold the handheld green bottle with the left arm and shake lightly.", + "Shake the medium green bottle with capped neck after holding it firmly.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Shake the plastic bottle after grabbing it.", + "Grab the smooth green bottle and move it to shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Lift the medium green bottle with capped neck with the left arm and shake.", + "Shake the smooth green bottle firmly after grabbing.", + "Grab and shake the bottle with narrow top using the left arm.", + "Hold and shake the the bottle with narrow top carefully.", + "Utilize the left arm to hold the bottle with rounded neck and shake it.", + "Grasp the smooth green plastic bottle with the left arm and shake it.", + "Lift the handheld green bottle and shake it gently.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Hold the bottle with white printed label, shake it briefly.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Pick the bottle with ridges near base, shake it with the left arm.", + "Pick up the bottle with rounded neck and shake it well.", + "Grab the bottle with rounded neck using the left arm, then shake.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Lift up the medium-sized green bottle using the left arm, then shake.", + "Use the left arm to hold the bottle with white printed label and shake it.", + "Grip the medium-sized green bottle using the left arm and shake.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Use the left arm to pick and shake the plastic bottle.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Using the left arm, shake the medium green bottle and then place it back.", + "Pick the bottle with white printed label up with the left arm and shake.", + "Pick the smooth green bottle up using the left arm and shake it.", + "Secure the plastic bottle, shake it, and place it down.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Shake the medium green bottle after grabbing it.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Hold the bottle with ridges near base and shake it properly.", + "Catch the medium-sized green bottle and shake it instantly.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Shake the the medium green bottle properly after lifting.", + "Shake the medium green bottle after grabbing it.", + "Lift the bottle with rounded neck with the left arm and give it a shake.", + "Grab the bottle with rounded neck with the left arm and shake.", + "Pick up the green bottle with indented base and shake it.", + "Use the left arm to grab the bottle with narrow top and shake it.", + "Hold the bottle with ridges near base steady, then shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the smooth green plastic bottle after lifting it.", + "Grab the green bottle with indented base carefully and shake.", + "Shake the smooth green bottle using the left arm after grabbing.", + "Secure the bottle with narrow top and perform a shake.", + "Hold the medium green bottle with the left arm and shake lightly.", + "Shake the bottle with ridges near base after holding it firmly." + ], + "unseen": [ + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode161.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode161.json new file mode 100644 index 0000000000000000000000000000000000000000..5bc442587b33c42d9d416d1468d3eb3915dc4209 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode161.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the bottle with ridges near base and perform shaking motion.", + "Grab the medium green bottle using the left arm, then shake.", + "Shake the green bottle with indented base after holding it firmly.", + "Hold the bottle with rounded neck steady, then shake it.", + "Lift the bottle with white printed label and shake it gently.", + "Pick the green bottle with indented base up using the left arm and shake it.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Grasp the handheld green bottle with the left arm and shake it.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Using the left arm, shake the smooth green plastic bottle and then place it back.", + "Pick the bottle with narrow top, shake it with the left arm.", + "Grab and shake the bottle with rounded neck using the left arm.", + "Grab the medium-sized green bottle carefully and shake.", + "Lift up the smooth green bottle using the left arm, then shake.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Shake the smooth green bottle after grabbing it.", + "Shake the medium-sized green bottle after grabbing it.", + "Pick up the medium green bottle with capped neck and shake it.", + "Shake the plastic bottle after grabbing it.", + "Lift the medium green bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Hold the medium green bottle with capped neck, shake it briefly.", + "Use the left arm to pick and shake the bottle with narrow top.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the medium green bottle and shake it steadily.", + "Hold the green bottle with indented base and shake it properly.", + "Shake the green bottle with indented base firmly after grabbing.", + "Use the left arm to lift and shake the handheld green bottle.", + "Use the left arm to hold the green bottle with indented base and shake it.", + "Pick the bottle with rounded neck up with the left arm and shake.", + "Use the left arm to grab the medium-sized green bottle and shake it.", + "Grab the green bottle with indented base and move it to shake.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Lift the bottle with ridges near base with the left arm and shake.", + "Lift the bottle with white printed label with the left arm and shake it.", + "Hold and shake the the medium green bottle carefully.", + "Grab the plastic bottle with the left arm and shake.", + "Take the bottle with ridges near base using the left arm and give it a shake.", + "Grip the smooth green bottle using the left arm and shake.", + "Shake the medium-sized green bottle using the left arm after grabbing.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Pick up the bottle with rounded neck and shake it well.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Shake the bottle with white printed label after lifting it.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Lift the smooth green bottle and shake it thoroughly.", + "Pick the smooth green bottle and perform shaking motion.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Shake the smooth green bottle after holding it firmly.", + "Hold the medium green bottle steady, then shake it.", + "Lift the smooth green bottle and shake it gently.", + "Pick the smooth green plastic bottle up using the left arm and shake it.", + "Catch the medium-sized green bottle and shake it instantly.", + "Grasp the bottle with narrow top with the left arm and shake it.", + "Use the left arm to grab the smooth green plastic bottle and shake properly.", + "Using the left arm, shake the bottle with ridges near base and then place it back.", + "Pick the bottle with ridges near base, shake it with the left arm.", + "Grab and shake the medium-sized green bottle using the left arm.", + "Grab the smooth green plastic bottle carefully and shake.", + "Lift up the handheld green bottle using the left arm, then shake.", + "Hold the green bottle with indented base with the left arm and shake lightly.", + "Shake the bottle with ridges near base after grabbing it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Pick up the medium green bottle and shake it.", + "Shake the smooth green bottle after grabbing it.", + "Lift the bottle with rounded neck with the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Hold the bottle with ridges near base, shake it briefly.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Shake the the medium green bottle properly after lifting.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Grab the bottle with white printed label and give it a shake.", + "Grab the bottle with narrow top and shake it steadily.", + "Hold the smooth green bottle and shake it properly.", + "Shake the handheld green bottle firmly after grabbing.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Use the left arm to hold the bottle with ridges near base and shake it.", + "Pick the plastic bottle up with the left arm and shake.", + "Use the left arm to grab the bottle with ridges near base and shake it.", + "Grab the bottle with white printed label and move it to shake.", + "Use the left arm to lift and shake the handheld green bottle.", + "Lift the handheld green bottle with the left arm and shake.", + "Lift the bottle with white printed label with the left arm and shake it.", + "Hold and shake the the green bottle with indented base carefully.", + "Grab the medium green bottle with the left arm and shake.", + "Take the plastic bottle using the left arm and give it a shake.", + "Grip the bottle with rounded neck using the left arm and shake.", + "Shake the bottle with rounded neck using the left arm after grabbing.", + "Utilize the left arm to hold the bottle with narrow top and shake it.", + "Secure the smooth green plastic bottle and perform a shake.", + "Pick up the medium-sized green bottle and shake it well.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Shake the handheld green bottle after lifting it.", + "With the left arm, pick the medium green bottle with capped neck and shake properly.", + "Lift the bottle with white printed label and shake it thoroughly." + ], + "unseen": [ + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode162.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode162.json new file mode 100644 index 0000000000000000000000000000000000000000..26e624cc7ac48c0c1008e4cfaf09747eb1a3d088 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode162.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the medium dark brown bottle firmly after grabbing.", + "Use the right arm to lift and shake the long thin bottle.", + "Grasp the narrow-necked bottle with the right arm and shake it.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Grab the brown bottle with red label and shake it steadily.", + "Hold and shake the the plastic drink bottle carefully.", + "Lift the smooth bottle with red lid with the right arm and shake it.", + "Shake the medium dark brown bottle after grabbing it.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Pick the narrow-necked bottle up with the right arm and shake.", + "Shake the plastic drink bottle after holding it firmly.", + "Shake the narrow-necked bottle using the right arm after grabbing.", + "Shake the bottle with ridges on bottom after lifting it.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Shake the the medium dark brown bottle properly after lifting.", + "Grab and shake the long thin bottle using the right arm.", + "Grip the hand-sized soda bottle using the right arm and shake.", + "Pick up the dark drink bottle with logo and shake it well.", + "With the right arm, pick the plastic drink bottle and shake properly.", + "Hold the Coca-Cola bottle with the right arm and shake lightly.", + "Grab the bottle with white neck and red top with the right arm and shake.", + "Grab the brown bottle with red label using the right arm, then shake.", + "Grab the hand-sized soda bottle carefully and shake.", + "Grab the smooth bottle with red lid and move it to shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Pick up the bottle with ridges on bottom and shake it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Using the right arm, shake the smooth bottle with red lid and then place it back.", + "Use the right arm to grab the plastic drink bottle and shake properly.", + "Use the right arm to hold the Coca-Cola bottle and shake it.", + "Take the bottle with white neck and red top using the right arm and give it a shake.", + "Lift the brown bottle with red label and shake it gently.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Utilize the right arm to hold the long thin bottle and shake it.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Pick the brown bottle with red label, shake it with the right arm.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Hold the brown bottle with red label and shake it properly.", + "Use the right arm to grab the hand-sized soda bottle and shake it.", + "Grab the medium dark brown bottle and give it a shake.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Lift up the bottle with ridges on bottom using the right arm, then shake.", + "Lift the hand-sized soda bottle with the right arm and give it a shake.", + "Use the right arm to pick and shake the hand-sized soda bottle.", + "Pick the red-capped bottle up using the right arm and shake it.", + "Lift the smooth bottle with red lid with the right arm and shake.", + "Shake the red-capped bottle firmly after grabbing.", + "Use the right arm to lift and shake the long thin bottle.", + "Grasp the bottle with ridges on bottom with the right arm and shake it.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Lift the plastic drink bottle with the right arm and shake it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Pick the bottle with ridges on bottom up with the right arm and shake.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Shake the brown bottle with red label using the right arm after grabbing.", + "Shake the bottle with ridges on bottom after lifting it.", + "Secure the smooth bottle with red lid and perform a shake.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Grab and shake the bottle with white neck and red top using the right arm.", + "Grip the hand-sized soda bottle using the right arm and shake.", + "Pick up the brown bottle with red label and shake it well.", + "With the right arm, pick the medium dark brown bottle and shake properly.", + "Hold the hand-sized soda bottle with the right arm and shake lightly.", + "Grab the brown bottle with red label with the right arm and shake.", + "Grab the red-capped bottle using the right arm, then shake.", + "Grab the medium dark brown bottle carefully and shake.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Shake the long thin bottle after grabbing it.", + "Pick up the dark drink bottle with logo and shake it.", + "Shake the narrow-necked bottle after grabbing it.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Using the right arm, shake the hand-sized soda bottle and then place it back.", + "Use the right arm to grab the dark drink bottle with logo and shake properly.", + "Use the right arm to hold the smooth bottle with red lid and shake it.", + "Take the medium dark brown bottle using the right arm and give it a shake.", + "Lift the bottle with white neck and red top and shake it gently.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Pick the smooth bottle with red lid, shake it with the right arm.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Hold the Coca-Cola bottle and shake it properly.", + "Use the right arm to grab the dark drink bottle with logo and shake it.", + "Grab the plastic drink bottle and give it a shake.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Lift up the narrow-necked bottle using the right arm, then shake.", + "Lift the Coca-Cola bottle with the right arm and give it a shake.", + "Use the right arm to pick and shake the medium dark brown bottle.", + "Pick the smooth bottle with red lid up using the right arm and shake it.", + "Lift the plastic drink bottle with the right arm and shake." + ], + "unseen": [ + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode163.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode163.json new file mode 100644 index 0000000000000000000000000000000000000000..56c1fb338461368af2d2aaa0201be4b2e5aa75c0 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode163.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Secure the medium green bottle, shake it, and place it down.", + "Shake the medium-sized green bottle after grabbing it.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Hold the medium green bottle and shake it properly.", + "Lift the bottle with rounded neck with the left arm and shake.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Grab the bottle with rounded neck and move it to shake.", + "Hold the handheld green bottle, shake it briefly.", + "Pick up the bottle with rounded neck and shake it.", + "Shake the bottle with rounded neck using the left arm after grabbing.", + "Take the bottle with white printed label using the left arm and give it a shake.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Shake the bottle with white printed label after grabbing it.", + "Pick the smooth green bottle up using the left arm and shake it.", + "Hold the bottle with white printed label with the left arm and shake lightly.", + "Use the left arm to grab the bottle with narrow top and shake it.", + "Lift the handheld green bottle with the left arm and give it a shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Grab and shake the medium-sized green bottle using the left arm.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Hold and shake the the bottle with narrow top carefully.", + "Pick the bottle with ridges near base, shake it with the left arm.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Pick up the bottle with narrow top and shake it well.", + "With the left arm, pick the bottle with narrow top and shake properly.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Grab the plastic bottle carefully and shake.", + "Grab the handheld green bottle with the left arm and shake.", + "Grab the bottle with rounded neck using the left arm, then shake.", + "Using the left arm, shake the handheld green bottle and then place it back.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Lift up the green bottle with indented base using the left arm, then shake.", + "Lift the bottle with ridges near base with the left arm and shake it.", + "Lift the smooth green plastic bottle and shake it gently.", + "Use the left arm to hold the bottle with white printed label and shake it.", + "Use the left arm to pick and shake the green bottle with indented base.", + "Shake the green bottle with indented base after lifting it.", + "Grip the bottle with ridges near base using the left arm and shake.", + "Grasp the smooth green bottle with the left arm and shake it.", + "Pick the smooth green bottle up with the left arm and shake.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Grab the bottle with ridges near base and shake it steadily.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Secure the smooth green plastic bottle and perform a shake.", + "Shake the bottle with white printed label after holding it firmly.", + "Utilize the left arm to hold the medium-sized green bottle and shake it.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Shake the handheld green bottle after grabbing it.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Hold the green bottle with indented base and shake it properly.", + "Lift the medium-sized green bottle with the left arm and shake.", + "Use the left arm to grab the smooth green plastic bottle and shake properly.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Hold the medium-sized green bottle, shake it briefly.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the medium green bottle with capped neck using the left arm after grabbing.", + "Take the medium-sized green bottle using the left arm and give it a shake.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Shake the medium green bottle after grabbing it.", + "Pick the handheld green bottle up using the left arm and shake it.", + "Hold the smooth green bottle with the left arm and shake lightly.", + "Use the left arm to grab the medium green bottle and shake it.", + "Lift the medium-sized green bottle with the left arm and give it a shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Grab and shake the bottle with ridges near base using the left arm.", + "Use the left arm to lift and shake the smooth green bottle.", + "Hold and shake the the medium green bottle carefully.", + "Pick the bottle with rounded neck, shake it with the left arm.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Lift the medium green bottle and shake it thoroughly.", + "Pick up the green bottle with indented base and shake it well.", + "With the left arm, pick the bottle with ridges near base and shake properly.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Grab the plastic bottle carefully and shake.", + "Grab the medium-sized green bottle with the left arm and shake.", + "Grab the medium-sized green bottle using the left arm, then shake.", + "Using the left arm, shake the bottle with ridges near base and then place it back.", + "Grab the bottle with white printed label and give it a shake.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Lift up the handheld green bottle using the left arm, then shake.", + "Lift the green bottle with indented base with the left arm and shake it.", + "Lift the bottle with narrow top and shake it gently.", + "Use the left arm to hold the medium green bottle with capped neck and shake it.", + "Use the left arm to pick and shake the medium green bottle with capped neck.", + "Shake the smooth green plastic bottle after lifting it.", + "Grip the bottle with ridges near base using the left arm and shake.", + "Grasp the medium green bottle with capped neck with the left arm and shake it.", + "Pick the medium green bottle with capped neck up with the left arm and shake.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Grab the bottle with ridges near base and shake it steadily.", + "Hold the bottle with ridges near base steady, then shake it.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Shake the smooth green plastic bottle after holding it firmly." + ], + "unseen": [ + "Pick up the green bottle with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode164.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode164.json new file mode 100644 index 0000000000000000000000000000000000000000..3e294cf12f6b5a3a277a294c304745f7a0ff4c20 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode164.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the brown bottle with red label with the right arm and give it a shake.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Shake the long thin bottle after holding it firmly.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Pick up the bottle with ridges on bottom and shake it.", + "Pick up the long thin bottle and shake it well.", + "Shake the the red-capped bottle properly after lifting.", + "Secure the narrow-necked bottle and perform a shake.", + "Utilize the right arm to hold the medium dark brown bottle and shake it.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Shake the hand-sized soda bottle after grabbing it.", + "Hold the long thin bottle steady, then shake it.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Grasp the dark drink bottle with logo with the right arm and shake it.", + "Lift the red-capped bottle with the right arm and shake it.", + "Pick the smooth bottle with red lid up using the right arm and shake it.", + "Hold the Coca-Cola bottle and shake it properly.", + "Shake the plastic drink bottle firmly after grabbing.", + "Grab the smooth bottle with red lid carefully and shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Lift the narrow-necked bottle with the right arm and shake.", + "Shake the long thin bottle after lifting it.", + "Shake the medium dark brown bottle using the right arm after grabbing.", + "Pick the red-capped bottle, shake it with the right arm.", + "Use the right arm to pick and shake the bottle with white neck and red top.", + "Use the right arm to grab the brown bottle with red label and shake properly.", + "Hold the red-capped bottle, shake it briefly.", + "Grip the smooth bottle with red lid using the right arm and shake.", + "Hold the long thin bottle with the right arm and shake lightly.", + "Use the right arm to hold the plastic drink bottle and shake it.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Grab the long thin bottle and move it to shake.", + "Take the bottle with white neck and red top using the right arm and give it a shake.", + "Grab the brown bottle with red label using the right arm, then shake.", + "Grab the bottle with white neck and red top and give it a shake.", + "Use the right arm to grab the long thin bottle and shake it.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Pick the red-capped bottle up with the right arm and shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Using the right arm, shake the smooth bottle with red lid and then place it back.", + "Lift the Coca-Cola bottle and shake it gently.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Catch the smooth bottle with red lid and shake it instantly.", + "With the right arm, pick the hand-sized soda bottle and shake properly.", + "Grab the narrow-necked bottle with the right arm and shake.", + "Grab and shake the bottle with ridges on bottom using the right arm.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Lift up the narrow-necked bottle using the right arm, then shake.", + "Lift the long thin bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the long thin bottle.", + "Shake the medium dark brown bottle after holding it firmly.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Pick up the bottle with white neck and red top and shake it.", + "Pick up the medium dark brown bottle and shake it well.", + "Shake the the red-capped bottle properly after lifting.", + "Secure the Coca-Cola bottle and perform a shake.", + "Utilize the right arm to hold the dark drink bottle with logo and shake it.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Shake the hand-sized soda bottle after grabbing it.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Grasp the Coca-Cola bottle with the right arm and shake it.", + "Lift the red-capped bottle with the right arm and shake it.", + "Pick the dark drink bottle with logo up using the right arm and shake it.", + "Hold the dark drink bottle with logo and shake it properly.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Grab the red-capped bottle carefully and shake.", + "Shake the brown bottle with red label after grabbing it.", + "Lift the bottle with ridges on bottom with the right arm and shake.", + "Shake the bottle with ridges on bottom after lifting it.", + "Shake the red-capped bottle using the right arm after grabbing.", + "Pick the medium dark brown bottle, shake it with the right arm.", + "Use the right arm to pick and shake the smooth bottle with red lid.", + "Use the right arm to grab the bottle with white neck and red top and shake properly.", + "Hold the narrow-necked bottle, shake it briefly.", + "Grip the dark drink bottle with logo using the right arm and shake.", + "Hold the plastic drink bottle with the right arm and shake lightly.", + "Use the right arm to hold the bottle with white neck and red top and shake it.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Grab the narrow-necked bottle and move it to shake.", + "Take the red-capped bottle using the right arm and give it a shake.", + "Grab the smooth bottle with red lid using the right arm, then shake.", + "Grab the smooth bottle with red lid and give it a shake.", + "Use the right arm to grab the bottle with white neck and red top and shake it.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Pick the bottle with white neck and red top up with the right arm and shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Using the right arm, shake the bottle with ridges on bottom and then place it back.", + "Lift the bottle with white neck and red top and shake it gently.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Catch the Coca-Cola bottle and shake it instantly.", + "With the right arm, pick the narrow-necked bottle and shake properly.", + "Grab the narrow-necked bottle with the right arm and shake.", + "Grab and shake the red-capped bottle using the right arm.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Lift up the plastic drink bottle using the right arm, then shake." + ], + "unseen": [ + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode165.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode165.json new file mode 100644 index 0000000000000000000000000000000000000000..89ad13d35fb1bbb3a6ac68ede3225ce48f601328 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode165.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and shake the green bottle with indented base using the left arm.", + "Hold the bottle with white printed label and shake it properly.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Shake the the medium-sized green bottle properly after lifting.", + "Grip the bottle with white printed label using the left arm and shake.", + "Shake the handheld green bottle after grabbing it.", + "Lift the bottle with white printed label with the left arm and shake it.", + "Shake the medium green bottle after lifting it.", + "With the left arm, pick the medium green bottle and shake properly.", + "Grab the medium-sized green bottle with the left arm and shake.", + "Use the left arm to grab the smooth green bottle and shake properly.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Use the left arm to lift and shake the smooth green bottle.", + "Grasp the bottle with ridges near base with the left arm and shake it.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Lift up the smooth green plastic bottle using the left arm, then shake.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Pick the bottle with narrow top and perform shaking motion.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Grab the handheld green bottle and move it to shake.", + "Pick the bottle with white printed label up using the left arm and shake it.", + "Utilize the left arm to hold the smooth green bottle and shake it.", + "Lift the bottle with ridges near base with the left arm and give it a shake.", + "Hold the bottle with ridges near base steady, then shake it.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Lift the bottle with white printed label with the left arm and shake.", + "Pick up the bottle with rounded neck and shake it.", + "Shake the bottle with white printed label after holding it firmly.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Catch the bottle with narrow top and shake it instantly.", + "Use the left arm to grab the plastic bottle and shake it.", + "Grab the green bottle with indented base and give it a shake.", + "Secure the handheld green bottle and perform a shake.", + "Hold and shake the the green bottle with indented base carefully.", + "Grab the smooth green bottle using the left arm, then shake.", + "Pick the medium green bottle, shake it with the left arm.", + "Pick the green bottle with indented base up with the left arm and shake.", + "Shake the smooth green bottle after grabbing it.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Use the left arm to lift and shake the plastic bottle.", + "Pick up the bottle with narrow top and shake it well.", + "Lift the smooth green bottle and shake it gently.", + "Hold the smooth green plastic bottle with the left arm and shake lightly.", + "Hold the plastic bottle, shake it briefly.", + "Using the left arm, shake the handheld green bottle and then place it back.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Use the left arm to pick and shake the plastic bottle.", + "Shake the bottle with ridges near base after grabbing it.", + "Shake the smooth green plastic bottle using the left arm after grabbing.", + "Grab and shake the medium-sized green bottle using the left arm.", + "Hold the smooth green plastic bottle and shake it properly.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Shake the the green bottle with indented base properly after lifting.", + "Grip the plastic bottle using the left arm and shake.", + "Shake the green bottle with indented base after grabbing it.", + "Lift the bottle with rounded neck with the left arm and shake it.", + "Shake the medium-sized green bottle after lifting it.", + "With the left arm, pick the handheld green bottle and shake properly.", + "Grab the bottle with ridges near base with the left arm and shake.", + "Use the left arm to grab the medium green bottle with capped neck and shake properly.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Grasp the bottle with white printed label with the left arm and shake it.", + "Grab the bottle with narrow top carefully and shake.", + "Lift up the medium green bottle using the left arm, then shake.", + "Take the smooth green bottle using the left arm and give it a shake.", + "Pick the green bottle with indented base and perform shaking motion.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Grab the handheld green bottle and move it to shake.", + "Pick the green bottle with indented base up using the left arm and shake it.", + "Utilize the left arm to hold the handheld green bottle and shake it.", + "Lift the green bottle with indented base with the left arm and give it a shake.", + "Hold the smooth green bottle steady, then shake it.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Lift the smooth green bottle with the left arm and shake.", + "Pick up the handheld green bottle and shake it.", + "Shake the smooth green bottle after holding it firmly.", + "Use the left arm to hold the handheld green bottle and shake it.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Catch the smooth green bottle and shake it instantly.", + "Use the left arm to grab the bottle with narrow top and shake it.", + "Grab the medium-sized green bottle and give it a shake.", + "Secure the medium-sized green bottle and perform a shake.", + "Hold and shake the the handheld green bottle carefully.", + "Grab the medium-sized green bottle using the left arm, then shake.", + "Pick the smooth green plastic bottle, shake it with the left arm.", + "Pick the handheld green bottle up with the left arm and shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Use the left arm to lift and shake the plastic bottle.", + "Pick up the bottle with narrow top and shake it well.", + "Lift the bottle with white printed label and shake it gently.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Hold the bottle with ridges near base, shake it briefly.", + "Using the left arm, shake the handheld green bottle and then place it back.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Shake the medium-sized green bottle after grabbing it.", + "Shake the plastic bottle using the left arm after grabbing." + ], + "unseen": [ + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode166.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode166.json new file mode 100644 index 0000000000000000000000000000000000000000..8d37d975996b34815cf046b34cf9612fcb35de86 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode166.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the bottle with ridges near base and shake it gently.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Pick up the bottle with ridges near base and shake it well.", + "Grab and shake the medium green bottle with capped neck using the left arm.", + "Grasp the bottle with narrow top with the left arm and shake it.", + "Shake the medium green bottle after lifting it.", + "Hold the smooth green plastic bottle and shake it properly.", + "Utilize the left arm to hold the bottle with ridges near base and shake it.", + "Hold the medium green bottle with capped neck with the left arm and shake lightly.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Grab the handheld green bottle with the left arm and shake.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Shake the handheld green bottle using the left arm after grabbing.", + "Use the left arm to grab the medium green bottle and shake properly.", + "Hold and shake the the medium green bottle carefully.", + "Grip the medium green bottle using the left arm and shake.", + "Lift the smooth green plastic bottle with the left arm and shake.", + "Shake the medium green bottle after grabbing it.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Pick the handheld green bottle and perform shaking motion.", + "Grab the medium green bottle and give it a shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Use the left arm to pick and shake the green bottle with indented base.", + "Grab the smooth green bottle carefully and shake.", + "Hold the handheld green bottle, shake it briefly.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Pick the bottle with ridges near base, shake it with the left arm.", + "Take the handheld green bottle using the left arm and give it a shake.", + "Catch the green bottle with indented base and shake it instantly.", + "Lift up the bottle with ridges near base using the left arm, then shake.", + "Grab the plastic bottle and shake it steadily.", + "Secure the bottle with rounded neck and perform a shake.", + "With the left arm, pick the plastic bottle and shake properly.", + "Using the left arm, shake the medium green bottle with capped neck and then place it back.", + "Hold the medium green bottle steady, then shake it.", + "Shake the the bottle with rounded neck properly after lifting.", + "Use the left arm to grab the smooth green plastic bottle and shake it.", + "Lift the smooth green bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the medium green bottle.", + "Use the left arm to hold the bottle with rounded neck and shake it.", + "Pick the bottle with narrow top up with the left arm and shake.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Pick the handheld green bottle up using the left arm and shake it.", + "Shake the bottle with ridges near base after grabbing it.", + "Grab the bottle with white printed label and move it to shake.", + "Pick up the medium green bottle with capped neck and shake it.", + "Shake the bottle with rounded neck after holding it firmly.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Lift the smooth green plastic bottle and shake it gently.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Pick up the plastic bottle and shake it well.", + "Grab and shake the handheld green bottle using the left arm.", + "Grasp the plastic bottle with the left arm and shake it.", + "Shake the handheld green bottle after lifting it.", + "Hold the smooth green plastic bottle and shake it properly.", + "Utilize the left arm to hold the medium green bottle and shake it.", + "Hold the green bottle with indented base with the left arm and shake lightly.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Grab the smooth green plastic bottle with the left arm and shake.", + "Lift the plastic bottle and shake it thoroughly.", + "Shake the medium-sized green bottle using the left arm after grabbing.", + "Use the left arm to grab the smooth green bottle and shake properly.", + "Hold and shake the the handheld green bottle carefully.", + "Grip the medium green bottle using the left arm and shake.", + "Lift the green bottle with indented base with the left arm and shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Shake the plastic bottle firmly after grabbing.", + "Pick the handheld green bottle and perform shaking motion.", + "Grab the bottle with narrow top and give it a shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Use the left arm to pick and shake the bottle with narrow top.", + "Grab the medium-sized green bottle carefully and shake.", + "Hold the bottle with ridges near base, shake it briefly.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Pick the bottle with rounded neck, shake it with the left arm.", + "Take the smooth green plastic bottle using the left arm and give it a shake.", + "Catch the bottle with rounded neck and shake it instantly.", + "Lift up the plastic bottle using the left arm, then shake.", + "Grab the bottle with rounded neck and shake it steadily.", + "Secure the bottle with white printed label and perform a shake.", + "With the left arm, pick the plastic bottle and shake properly.", + "Using the left arm, shake the medium green bottle with capped neck and then place it back.", + "Hold the handheld green bottle steady, then shake it.", + "Shake the the bottle with rounded neck properly after lifting.", + "Use the left arm to grab the medium green bottle with capped neck and shake it.", + "Lift the smooth green plastic bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Use the left arm to hold the medium green bottle and shake it.", + "Pick the bottle with ridges near base up with the left arm and shake.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Pick the green bottle with indented base up using the left arm and shake it.", + "Shake the plastic bottle after grabbing it.", + "Grab the handheld green bottle and move it to shake.", + "Pick up the handheld green bottle and shake it.", + "Shake the medium green bottle after holding it firmly.", + "Lift the smooth green plastic bottle with the left arm and shake it.", + "Grab the bottle with rounded neck using the left arm, then shake." + ], + "unseen": [ + "Use the left arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode167.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode167.json new file mode 100644 index 0000000000000000000000000000000000000000..3f4871a672e32139f21adc0a7b8bb772334b54de --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode167.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the dark drink bottle with logo with the left arm and shake.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Lift the Coca-Cola bottle with the left arm and shake it.", + "Using the left arm, shake the dark drink bottle with logo and then place it back.", + "Shake the red-capped bottle after grabbing it.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Use the left arm to pick and shake the red-capped bottle.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Secure the hand-sized soda bottle and perform a shake.", + "Lift up the brown bottle with red label using the left arm, then shake.", + "Hold and shake the the brown bottle with red label carefully.", + "Use the left arm to lift and shake the red-capped bottle.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Use the left arm to hold the smooth bottle with red lid and shake it.", + "Hold the smooth bottle with red lid and shake it properly.", + "Pick up the plastic drink bottle and shake it.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Utilize the left arm to hold the hand-sized soda bottle and shake it.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Use the left arm to grab the long thin bottle and shake it.", + "Shake the medium dark brown bottle after lifting it.", + "Grab the long thin bottle carefully and shake.", + "Shake the bottle with white neck and red top using the left arm after grabbing.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Grab the medium dark brown bottle and give it a shake.", + "Shake the the medium dark brown bottle properly after lifting.", + "Pick up the plastic drink bottle and shake it well.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "With the left arm, pick the brown bottle with red label and shake properly.", + "Grab and shake the bottle with white neck and red top using the left arm.", + "Shake the medium dark brown bottle after grabbing it.", + "Grasp the Coca-Cola bottle with the left arm and shake it.", + "Grab the narrow-necked bottle and move it to shake.", + "Pick the dark drink bottle with logo, shake it with the left arm.", + "Lift the dark drink bottle with logo and shake it gently.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Pick the dark drink bottle with logo up using the left arm and shake it.", + "Shake the narrow-necked bottle after holding it firmly.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Shake the smooth bottle with red lid after grabbing it.", + "Lift the smooth bottle with red lid with the left arm and give it a shake.", + "Grab the bottle with white neck and red top with the left arm and shake.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Shake the long thin bottle firmly after grabbing.", + "Lift the smooth bottle with red lid with the left arm and shake.", + "Grab the brown bottle with red label and shake it steadily.", + "Lift the plastic drink bottle with the left arm and shake it.", + "Using the left arm, shake the dark drink bottle with logo and then place it back.", + "Shake the brown bottle with red label after grabbing it.", + "Hold the long thin bottle, shake it briefly.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Pick the brown bottle with red label up with the left arm and shake.", + "Take the hand-sized soda bottle using the left arm and give it a shake.", + "Secure the plastic drink bottle and perform a shake.", + "Lift up the red-capped bottle using the left arm, then shake.", + "Hold and shake the the narrow-necked bottle carefully.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Grip the Coca-Cola bottle using the left arm and shake.", + "Use the left arm to hold the long thin bottle and shake it.", + "Hold the smooth bottle with red lid and shake it properly.", + "Pick up the smooth bottle with red lid and shake it.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Pick the long thin bottle and perform shaking motion.", + "Hold the brown bottle with red label with the left arm and shake lightly.", + "Utilize the left arm to hold the long thin bottle and shake it.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Shake the smooth bottle with red lid after lifting it.", + "Grab the dark drink bottle with logo carefully and shake.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Grab the plastic drink bottle using the left arm, then shake.", + "Grab the hand-sized soda bottle and give it a shake.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Pick up the bottle with white neck and red top and shake it well.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Use the left arm to lift and shake the red-capped bottle.", + "With the left arm, pick the plastic drink bottle and shake properly.", + "Grab and shake the brown bottle with red label using the left arm.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Grab the Coca-Cola bottle and move it to shake.", + "Pick the bottle with ridges on bottom, shake it with the left arm.", + "Lift the long thin bottle and shake it gently.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Use the left arm to grab the medium dark brown bottle and shake properly.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Lift the medium dark brown bottle with the left arm and give it a shake.", + "Grab the medium dark brown bottle with the left arm and shake.", + "Lift the red-capped bottle and shake it thoroughly.", + "Shake the Coca-Cola bottle firmly after grabbing." + ], + "unseen": [ + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode168.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode168.json new file mode 100644 index 0000000000000000000000000000000000000000..1b6531d01ea3cb6e7af076b9c5da6b9e17e56c02 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode168.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to hold the bottle with ridges near base and shake it.", + "Lift the bottle with white printed label with the right arm and give it a shake.", + "Secure the medium green bottle and perform a shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Pick the smooth green bottle, shake it with the right arm.", + "Shake the handheld green bottle after lifting it.", + "Hold the smooth green bottle with the right arm and shake lightly.", + "Secure the plastic bottle, shake it, and place it down.", + "Hold the handheld green bottle steady, then shake it.", + "Grasp the plastic bottle with the right arm and shake it.", + "Use the right arm to grab the bottle with rounded neck and shake properly.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Hold and shake the the bottle with ridges near base carefully.", + "Shake the smooth green bottle after grabbing it.", + "Lift up the smooth green bottle using the right arm, then shake.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Use the right arm to pick and shake the plastic bottle.", + "Pick the bottle with narrow top up using the right arm and shake it.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Lift the handheld green bottle with the right arm and shake it.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Grab the handheld green bottle and move it to shake.", + "Grab the smooth green plastic bottle using the right arm, then shake.", + "Grab the smooth green bottle and shake it steadily.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Grab the handheld green bottle carefully and shake.", + "Shake the the handheld green bottle properly after lifting.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Shake the bottle with white printed label after grabbing it.", + "Shake the bottle with white printed label using the right arm after grabbing.", + "Take the bottle with white printed label using the right arm and give it a shake.", + "Grab the green bottle with indented base with the right arm and shake.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Shake the bottle with white printed label after holding it firmly.", + "Pick up the medium-sized green bottle and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Pick up the green bottle with indented base and shake it well.", + "Using the right arm, shake the green bottle with indented base and then place it back.", + "Grip the medium green bottle using the right arm and shake.", + "With the right arm, pick the bottle with rounded neck and shake properly.", + "Utilize the right arm to hold the smooth green bottle and shake it.", + "Use the right arm to grab the handheld green bottle and shake it.", + "Hold the bottle with white printed label and shake it properly.", + "Grab and shake the smooth green plastic bottle using the right arm.", + "Pick the bottle with white printed label up with the right arm and shake.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Lift the bottle with rounded neck with the right arm and shake.", + "Use the right arm to hold the smooth green bottle and shake it.", + "Lift the medium green bottle with capped neck with the right arm and give it a shake.", + "Secure the bottle with narrow top and perform a shake.", + "Shake the green bottle with indented base after grabbing it.", + "Pick the bottle with rounded neck, shake it with the right arm.", + "Shake the medium-sized green bottle after lifting it.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Hold the bottle with narrow top steady, then shake it.", + "Grasp the medium-sized green bottle with the right arm and shake it.", + "Use the right arm to grab the medium green bottle and shake properly.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Hold and shake the the bottle with rounded neck carefully.", + "Shake the bottle with rounded neck after grabbing it.", + "Lift up the medium-sized green bottle using the right arm, then shake.", + "Use the right arm to lift and shake the medium green bottle.", + "Use the right arm to pick and shake the green bottle with indented base.", + "Pick the bottle with white printed label up using the right arm and shake it.", + "Catch the medium-sized green bottle and shake it instantly.", + "Lift the bottle with white printed label with the right arm and shake it.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Grab the bottle with rounded neck and move it to shake.", + "Grab the smooth green plastic bottle using the right arm, then shake.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Lift the smooth green bottle and shake it thoroughly.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Grab the bottle with narrow top carefully and shake.", + "Shake the the bottle with ridges near base properly after lifting.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Shake the medium-sized green bottle after grabbing it.", + "Shake the medium green bottle using the right arm after grabbing.", + "Take the bottle with narrow top using the right arm and give it a shake.", + "Grab the handheld green bottle with the right arm and shake.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Pick up the plastic bottle and shake it.", + "Grab the bottle with rounded neck and give it a shake.", + "Lift the bottle with narrow top and shake it gently.", + "Pick up the medium green bottle and shake it well.", + "Using the right arm, shake the smooth green bottle and then place it back.", + "Grip the plastic bottle using the right arm and shake.", + "With the right arm, pick the bottle with narrow top and shake properly.", + "Utilize the right arm to hold the bottle with narrow top and shake it.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "Hold the bottle with narrow top and shake it properly.", + "Grab and shake the handheld green bottle using the right arm.", + "Pick the smooth green bottle up with the right arm and shake.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Lift the bottle with narrow top with the right arm and shake." + ], + "unseen": [ + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode169.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode169.json new file mode 100644 index 0000000000000000000000000000000000000000..ac01fe3bfc85b456f2882ccd2ce03d02e5d3b68e --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode169.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the brown bottle with red label using the left arm, then shake.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Use the left arm to hold the smooth bottle with red lid and shake it.", + "Pick up the bottle with white neck and red top and shake it well.", + "Grab the medium dark brown bottle and move it to shake.", + "Hold the medium dark brown bottle with the left arm and shake lightly.", + "Grab the Coca-Cola bottle carefully and shake.", + "Shake the bottle with white neck and red top after grabbing it.", + "Shake the the brown bottle with red label properly after lifting.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Pick the brown bottle with red label, shake it with the left arm.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Lift the Coca-Cola bottle and shake it gently.", + "Shake the red-capped bottle after grabbing it.", + "Grab the brown bottle with red label with the left arm and shake.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Lift the plastic drink bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Use the left arm to grab the Coca-Cola bottle and shake properly.", + "Grab the smooth bottle with red lid and give it a shake.", + "Secure the narrow-necked bottle and perform a shake.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Use the left arm to grab the long thin bottle and shake it.", + "Shake the smooth bottle with red lid using the left arm after grabbing.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Grasp the Coca-Cola bottle with the left arm and shake it.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Shake the red-capped bottle after grabbing it.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Using the left arm, shake the red-capped bottle and then place it back.", + "Hold the bottle with white neck and red top and shake it properly.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Shake the medium dark brown bottle after lifting it.", + "Utilize the left arm to hold the long thin bottle and shake it.", + "Pick the brown bottle with red label up with the left arm and shake.", + "Lift up the long thin bottle using the left arm, then shake.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Take the Coca-Cola bottle using the left arm and give it a shake.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Hold the plastic drink bottle steady, then shake it.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Pick up the bottle with white neck and red top and shake it.", + "With the left arm, pick the red-capped bottle and shake properly.", + "Lift the bottle with white neck and red top with the left arm and shake.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Grip the Coca-Cola bottle using the left arm and shake.", + "Grab the Coca-Cola bottle using the left arm, then shake.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Use the left arm to hold the long thin bottle and shake it.", + "Pick up the Coca-Cola bottle and shake it well.", + "Grab the hand-sized soda bottle and move it to shake.", + "Hold the plastic drink bottle with the left arm and shake lightly.", + "Grab the Coca-Cola bottle carefully and shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Use the left arm to pick and shake the long thin bottle.", + "Hold the brown bottle with red label, shake it briefly.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Lift the red-capped bottle and shake it gently.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grab the Coca-Cola bottle with the left arm and shake.", + "Pick the red-capped bottle and perform shaking motion.", + "Lift the dark drink bottle with logo with the left arm and give it a shake.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Grab the bottle with white neck and red top and give it a shake.", + "Secure the long thin bottle and perform a shake.", + "Grab and shake the narrow-necked bottle using the left arm.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Use the left arm to grab the plastic drink bottle and shake it.", + "Shake the brown bottle with red label using the left arm after grabbing.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Grasp the long thin bottle with the left arm and shake it.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Catch the red-capped bottle and shake it instantly.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Hold the red-capped bottle and shake it properly.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Shake the hand-sized soda bottle after lifting it.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "Lift up the narrow-necked bottle using the left arm, then shake.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Take the brown bottle with red label using the left arm and give it a shake.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Secure the red-capped bottle, shake it, and place it down.", + "Hold the plastic drink bottle steady, then shake it.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Pick up the brown bottle with red label and shake it.", + "With the left arm, pick the brown bottle with red label and shake properly.", + "Lift the long thin bottle with the left arm and shake.", + "Grab the red-capped bottle and shake it steadily.", + "Shake the plastic drink bottle after holding it firmly.", + "Grip the bottle with white neck and red top using the left arm and shake." + ], + "unseen": [ + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode17.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..c05a314c317227522476f883e2658aaf3e4e3364 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium-sized green bottle using the right arm, then shake.", + "Shake the plastic bottle after grabbing it.", + "With the right arm, pick the bottle with white printed label and shake properly.", + "Lift the smooth green plastic bottle with the right arm and shake.", + "Use the right arm to grab the smooth green plastic bottle and shake properly.", + "Hold the bottle with ridges near base, shake it briefly.", + "Use the right arm to lift and shake the smooth green bottle.", + "Pick up the green bottle with indented base and shake it well.", + "Shake the the medium green bottle properly after lifting.", + "Take the medium-sized green bottle using the right arm and give it a shake.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Pick up the bottle with rounded neck and shake it.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Shake the medium-sized green bottle after grabbing it.", + "Use the right arm to lift and shake the medium green bottle.", + "Lift the medium green bottle with the right arm and give it a shake.", + "Lift the smooth green bottle with the right arm and shake it.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Shake the bottle with white printed label using the right arm after grabbing.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Use the right arm to hold the handheld green bottle and shake it.", + "Using the right arm, shake the green bottle with indented base and then place it back.", + "Lift the medium-sized green bottle and shake it gently.", + "Shake the plastic bottle after lifting it.", + "Lift up the plastic bottle using the right arm, then shake.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Shake the smooth green bottle after holding it firmly.", + "Use the right arm to grab the medium green bottle with capped neck and shake it.", + "Pick the bottle with white printed label and perform shaking motion.", + "Hold the bottle with ridges near base steady, then shake it.", + "Grab the medium-sized green bottle with the right arm and shake.", + "Grab the medium-sized green bottle and give it a shake.", + "Utilize the right arm to hold the medium-sized green bottle and shake it.", + "Shake the bottle with ridges near base after grabbing it.", + "Hold the green bottle with indented base and shake it properly.", + "Grab and shake the medium-sized green bottle using the right arm.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Use the right arm to pick and shake the bottle with rounded neck.", + "Grab the bottle with narrow top carefully and shake.", + "Pick the green bottle with indented base up with the right arm and shake.", + "Pick the bottle with narrow top up using the right arm and shake it.", + "Grasp the smooth green plastic bottle with the right arm and shake it.", + "Hold the green bottle with indented base with the right arm and shake lightly.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Pick the bottle with ridges near base, shake it with the right arm.", + "Grab the bottle with white printed label and shake it steadily.", + "Grip the handheld green bottle using the right arm and shake.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Grab the smooth green plastic bottle using the right arm, then shake.", + "Shake the bottle with rounded neck after grabbing it.", + "With the right arm, pick the handheld green bottle and shake properly.", + "Lift the medium-sized green bottle with the right arm and shake.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Hold the bottle with narrow top, shake it briefly.", + "Use the right arm to lift and shake the smooth green bottle.", + "Pick up the bottle with white printed label and shake it well.", + "Shake the the medium-sized green bottle properly after lifting.", + "Take the smooth green plastic bottle using the right arm and give it a shake.", + "Hold and shake the the plastic bottle carefully.", + "Pick up the medium green bottle with capped neck and shake it.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Shake the bottle with white printed label after grabbing it.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Lift the medium green bottle with the right arm and give it a shake.", + "Lift the bottle with white printed label with the right arm and shake it.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Shake the handheld green bottle using the right arm after grabbing.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Use the right arm to hold the smooth green plastic bottle and shake it.", + "Using the right arm, shake the medium green bottle and then place it back.", + "Lift the bottle with ridges near base and shake it gently.", + "Shake the medium-sized green bottle after lifting it.", + "Lift up the bottle with ridges near base using the right arm, then shake.", + "Grab the smooth green plastic bottle and move it to shake.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Use the right arm to grab the plastic bottle and shake it.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Grab the medium green bottle with the right arm and shake.", + "Grab the handheld green bottle and give it a shake.", + "Utilize the right arm to hold the medium green bottle with capped neck and shake it.", + "Shake the bottle with ridges near base after grabbing it.", + "Hold the smooth green bottle and shake it properly.", + "Grab and shake the smooth green bottle using the right arm.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Use the right arm to pick and shake the bottle with ridges near base.", + "Grab the bottle with ridges near base carefully and shake.", + "Pick the bottle with ridges near base up with the right arm and shake.", + "Pick the medium green bottle with capped neck up using the right arm and shake it.", + "Grasp the bottle with white printed label with the right arm and shake it.", + "Hold the bottle with white printed label with the right arm and shake lightly.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Pick the bottle with narrow top, shake it with the right arm.", + "Grab the bottle with narrow top and shake it steadily.", + "Grip the medium green bottle using the right arm and shake.", + "Secure the bottle with rounded neck and perform a shake." + ], + "unseen": [ + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode170.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode170.json new file mode 100644 index 0000000000000000000000000000000000000000..dc5a704b16bef5d90063d4e9d8c421be1d60578c --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode170.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the smooth green bottle with the right arm and shake it.", + "Shake the medium green bottle with capped neck after lifting it.", + "Shake the the bottle with rounded neck properly after lifting.", + "Grab the plastic bottle with the right arm and shake.", + "Hold the bottle with ridges near base steady, then shake it.", + "Shake the medium-sized green bottle after grabbing it.", + "Pick the plastic bottle and perform shaking motion.", + "Lift the smooth green plastic bottle with the right arm and shake.", + "Hold the smooth green bottle with the right arm and shake lightly.", + "Grab the medium green bottle using the right arm, then shake.", + "Secure the handheld green bottle and perform a shake.", + "Lift the medium green bottle and shake it gently.", + "Grab and shake the handheld green bottle using the right arm.", + "Pick up the medium-sized green bottle and shake it well.", + "Use the right arm to pick and shake the medium green bottle with capped neck.", + "Shake the bottle with ridges near base after holding it firmly.", + "Shake the bottle with ridges near base after grabbing it.", + "Use the right arm to grab the bottle with white printed label and shake properly.", + "Lift the bottle with ridges near base with the right arm and shake it.", + "Grip the bottle with ridges near base using the right arm and shake.", + "Utilize the right arm to hold the medium green bottle with capped neck and shake it.", + "Pick the medium green bottle with capped neck, shake it with the right arm.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Hold and shake the the plastic bottle carefully.", + "Grab the bottle with rounded neck and shake it steadily.", + "Shake the medium green bottle using the right arm after grabbing.", + "Hold the medium green bottle and shake it properly.", + "Use the right arm to lift and shake the plastic bottle.", + "Take the plastic bottle using the right arm and give it a shake.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Secure the handheld green bottle, shake it, and place it down.", + "Grab the smooth green bottle and give it a shake.", + "Pick up the bottle with white printed label and shake it.", + "Catch the green bottle with indented base and shake it instantly.", + "Grab the medium-sized green bottle carefully and shake.", + "Use the right arm to grab the handheld green bottle and shake it.", + "Shake the handheld green bottle after grabbing it.", + "Pick the bottle with ridges near base up using the right arm and shake it.", + "Lift the green bottle with indented base with the right arm and give it a shake.", + "Use the right arm to hold the medium green bottle and shake it.", + "Lift up the bottle with ridges near base using the right arm, then shake.", + "Hold the bottle with white printed label, shake it briefly.", + "Using the right arm, shake the handheld green bottle and then place it back.", + "Shake the handheld green bottle firmly after grabbing.", + "With the right arm, pick the handheld green bottle and shake properly.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Grab the plastic bottle and move it to shake.", + "Pick the smooth green plastic bottle up with the right arm and shake.", + "Grasp the plastic bottle with the right arm and shake it.", + "Shake the bottle with narrow top after lifting it.", + "Shake the the plastic bottle properly after lifting.", + "Grab the plastic bottle with the right arm and shake.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Shake the smooth green bottle after grabbing it.", + "Pick the handheld green bottle and perform shaking motion.", + "Lift the medium green bottle with capped neck with the right arm and shake.", + "Hold the handheld green bottle with the right arm and shake lightly.", + "Grab the bottle with rounded neck using the right arm, then shake.", + "Secure the medium-sized green bottle and perform a shake.", + "Lift the medium-sized green bottle and shake it gently.", + "Grab and shake the plastic bottle using the right arm.", + "Pick up the plastic bottle and shake it well.", + "Use the right arm to pick and shake the green bottle with indented base.", + "Shake the smooth green bottle after holding it firmly.", + "Shake the medium-sized green bottle after grabbing it.", + "Use the right arm to grab the medium green bottle and shake properly.", + "Lift the handheld green bottle with the right arm and shake it.", + "Grip the medium green bottle with capped neck using the right arm and shake.", + "Utilize the right arm to hold the handheld green bottle and shake it.", + "Pick the smooth green bottle, shake it with the right arm.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Hold and shake the the bottle with narrow top carefully.", + "Grab the medium-sized green bottle and shake it steadily.", + "Shake the handheld green bottle using the right arm after grabbing.", + "Hold the handheld green bottle and shake it properly.", + "Use the right arm to lift and shake the handheld green bottle.", + "Take the handheld green bottle using the right arm and give it a shake.", + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Secure the smooth green bottle, shake it, and place it down.", + "Grab the handheld green bottle and give it a shake.", + "Pick up the smooth green bottle and shake it.", + "Catch the plastic bottle and shake it instantly.", + "Grab the green bottle with indented base carefully and shake.", + "Use the right arm to grab the plastic bottle and shake it.", + "Shake the plastic bottle after grabbing it.", + "Pick the green bottle with indented base up using the right arm and shake it.", + "Lift the medium green bottle with the right arm and give it a shake.", + "Use the right arm to hold the smooth green plastic bottle and shake it.", + "Lift up the handheld green bottle using the right arm, then shake.", + "Hold the medium green bottle with capped neck, shake it briefly.", + "Using the right arm, shake the medium green bottle and then place it back.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "With the right arm, pick the medium-sized green bottle and shake properly.", + "Use the right arm to lift and shake the smooth green bottle.", + "Use the right arm to lift and shake the plastic bottle.", + "Grab the green bottle with indented base and move it to shake.", + "Pick the bottle with ridges near base up with the right arm and shake." + ], + "unseen": [ + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode171.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode171.json new file mode 100644 index 0000000000000000000000000000000000000000..e5b4d8b8acd07b01b6493e2a1a77fff8aa29203d --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode171.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with ridges near base carefully and shake.", + "With the right arm, pick the bottle with rounded neck and shake properly.", + "Use the right arm to lift and shake the plastic bottle.", + "Hold the green bottle with indented base and shake it properly.", + "Pick the smooth green plastic bottle, shake it with the right arm.", + "Use the right arm to hold the bottle with white printed label and shake it.", + "Grab the medium green bottle with capped neck using the right arm, then shake.", + "Use the right arm to lift and shake the medium green bottle.", + "Hold and shake the the bottle with ridges near base carefully.", + "Lift the bottle with white printed label and shake it gently.", + "Lift the bottle with rounded neck with the right arm and give it a shake.", + "Use the right arm to grab the medium green bottle and shake it.", + "Shake the medium-sized green bottle using the right arm after grabbing.", + "Shake the bottle with rounded neck after grabbing it.", + "Grab and shake the bottle with white printed label using the right arm.", + "Hold the green bottle with indented base, shake it briefly.", + "Secure the medium green bottle and perform a shake.", + "Grab the smooth green plastic bottle and give it a shake.", + "Catch the bottle with white printed label and shake it instantly.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Pick the smooth green bottle up using the right arm and shake it.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to grab the medium green bottle and shake properly.", + "Grasp the bottle with ridges near base with the right arm and shake it.", + "Pick up the green bottle with indented base and shake it well.", + "Pick the green bottle with indented base up with the right arm and shake.", + "Pick up the bottle with narrow top and shake it.", + "Grab the smooth green plastic bottle and move it to shake.", + "Utilize the right arm to hold the handheld green bottle and shake it.", + "Lift the green bottle with indented base with the right arm and shake.", + "Lift the smooth green plastic bottle with the right arm and shake it.", + "Shake the green bottle with indented base after holding it firmly.", + "Shake the smooth green bottle after grabbing it.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Using the right arm, shake the medium green bottle with capped neck and then place it back.", + "Use the right arm to lift and shake the handheld green bottle.", + "Pick the medium green bottle and perform shaking motion.", + "Lift up the handheld green bottle using the right arm, then shake.", + "Shake the plastic bottle after lifting it.", + "Grip the plastic bottle using the right arm and shake.", + "Grab the bottle with rounded neck with the right arm and shake.", + "Shake the handheld green bottle firmly after grabbing.", + "Grab the medium-sized green bottle and shake it steadily.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Shake the the bottle with rounded neck properly after lifting.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Take the handheld green bottle using the right arm and give it a shake.", + "Use the right arm to pick and shake the smooth green bottle.", + "Grab the handheld green bottle carefully and shake.", + "With the right arm, pick the handheld green bottle and shake properly.", + "Use the right arm to lift and shake the plastic bottle.", + "Hold the plastic bottle and shake it properly.", + "Pick the smooth green bottle, shake it with the right arm.", + "Use the right arm to hold the plastic bottle and shake it.", + "Grab the medium-sized green bottle using the right arm, then shake.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Hold and shake the the green bottle with indented base carefully.", + "Lift the bottle with ridges near base and shake it gently.", + "Lift the bottle with rounded neck with the right arm and give it a shake.", + "Use the right arm to grab the bottle with white printed label and shake it.", + "Shake the plastic bottle using the right arm after grabbing.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grab and shake the green bottle with indented base using the right arm.", + "Hold the handheld green bottle, shake it briefly.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Grab the green bottle with indented base and give it a shake.", + "Catch the green bottle with indented base and shake it instantly.", + "Secure the medium green bottle, shake it, and place it down.", + "Pick the plastic bottle up using the right arm and shake it.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to grab the medium green bottle with capped neck and shake properly.", + "Grasp the smooth green bottle with the right arm and shake it.", + "Pick up the bottle with rounded neck and shake it well.", + "Pick the plastic bottle up with the right arm and shake.", + "Pick up the bottle with rounded neck and shake it.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Lift the medium green bottle with capped neck with the right arm and shake.", + "Lift the plastic bottle with the right arm and shake it.", + "Shake the medium green bottle with capped neck after holding it firmly.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Using the right arm, shake the bottle with white printed label and then place it back.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Lift up the handheld green bottle using the right arm, then shake.", + "Shake the smooth green plastic bottle after lifting it.", + "Grip the medium green bottle with capped neck using the right arm and shake.", + "Grab the handheld green bottle with the right arm and shake.", + "Shake the bottle with narrow top firmly after grabbing.", + "Grab the medium-sized green bottle and shake it steadily.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Shake the the plastic bottle properly after lifting.", + "Hold the green bottle with indented base steady, then shake it.", + "Take the plastic bottle using the right arm and give it a shake.", + "Use the right arm to pick and shake the medium-sized green bottle." + ], + "unseen": [ + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode172.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode172.json new file mode 100644 index 0000000000000000000000000000000000000000..d37a47235075c6e9a1cbc54bd9e35b29ca0d96f4 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode172.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the bottle with narrow top and shake it properly.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Grip the green bottle with indented base using the right arm and shake.", + "Lift the medium green bottle with capped neck with the right arm and shake it.", + "Pick the plastic bottle up with the right arm and shake.", + "Shake the handheld green bottle using the right arm after grabbing.", + "Grasp the smooth green plastic bottle with the right arm and shake it.", + "Using the right arm, shake the bottle with rounded neck and then place it back.", + "Pick the bottle with ridges near base, shake it with the right arm.", + "Lift up the plastic bottle using the right arm, then shake.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Lift the bottle with ridges near base with the right arm and give it a shake.", + "Secure the green bottle with indented base and perform a shake.", + "Utilize the right arm to hold the medium green bottle with capped neck and shake it.", + "Grab and shake the smooth green plastic bottle using the right arm.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Pick the bottle with narrow top up using the right arm and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Grab the bottle with narrow top carefully and shake.", + "Pick up the medium-sized green bottle and shake it.", + "Lift the bottle with white printed label and shake it gently.", + "Grab the bottle with ridges near base and shake it steadily.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Grab the bottle with narrow top with the right arm and shake.", + "Shake the plastic bottle after grabbing it.", + "With the right arm, pick the smooth green plastic bottle and shake properly.", + "Hold the plastic bottle steady, then shake it.", + "Hold the medium-sized green bottle with the right arm and shake lightly.", + "Pick up the green bottle with indented base and shake it well.", + "Use the right arm to grab the medium-sized green bottle and shake properly.", + "Hold and shake the the smooth green bottle carefully.", + "Grab the handheld green bottle and move it to shake.", + "Use the right arm to pick and shake the medium-sized green bottle.", + "Shake the bottle with rounded neck after holding it firmly.", + "Use the right arm to hold the smooth green bottle and shake it.", + "Grab the medium-sized green bottle and give it a shake.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Shake the bottle with rounded neck after grabbing it.", + "Catch the smooth green bottle and shake it instantly.", + "Use the right arm to grab the smooth green bottle and shake it.", + "Lift the medium green bottle with the right arm and shake.", + "Take the smooth green bottle using the right arm and give it a shake.", + "Shake the the green bottle with indented base properly after lifting.", + "Use the right arm to lift and shake the medium green bottle.", + "Shake the bottle with ridges near base after lifting it.", + "Grab the bottle with white printed label using the right arm, then shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Grip the smooth green plastic bottle using the right arm and shake.", + "Lift the medium green bottle with capped neck with the right arm and shake it.", + "Pick the medium-sized green bottle up with the right arm and shake.", + "Shake the bottle with white printed label using the right arm after grabbing.", + "Grasp the bottle with narrow top with the right arm and shake it.", + "Using the right arm, shake the medium green bottle with capped neck and then place it back.", + "Pick the bottle with ridges near base, shake it with the right arm.", + "Lift up the bottle with ridges near base using the right arm, then shake.", + "Pick the bottle with narrow top and perform shaking motion.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Lift the bottle with ridges near base with the right arm and give it a shake.", + "Secure the bottle with rounded neck and perform a shake.", + "Utilize the right arm to hold the medium green bottle with capped neck and shake it.", + "Grab and shake the plastic bottle using the right arm.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Pick the bottle with white printed label up using the right arm and shake it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grab the medium green bottle carefully and shake.", + "Pick up the green bottle with indented base and shake it.", + "Lift the bottle with ridges near base and shake it gently.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Hold the medium-sized green bottle, shake it briefly.", + "Grab the medium green bottle with the right arm and shake.", + "Shake the green bottle with indented base after grabbing it.", + "With the right arm, pick the smooth green bottle and shake properly.", + "Hold the medium-sized green bottle steady, then shake it.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Pick up the smooth green bottle and shake it well.", + "Use the right arm to grab the bottle with narrow top and shake properly.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Grab the bottle with narrow top and move it to shake.", + "Use the right arm to pick and shake the bottle with white printed label.", + "Shake the medium green bottle after holding it firmly.", + "Use the right arm to hold the bottle with ridges near base and shake it.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Shake the medium green bottle firmly after grabbing.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Shake the bottle with rounded neck after grabbing it.", + "Catch the bottle with narrow top and shake it instantly.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "Lift the smooth green bottle with the right arm and shake.", + "Take the plastic bottle using the right arm and give it a shake.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Use the right arm to lift and shake the plastic bottle.", + "Shake the plastic bottle after lifting it.", + "Grab the medium-sized green bottle using the right arm, then shake.", + "Use the right arm to lift and shake the medium-sized green bottle." + ], + "unseen": [ + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode173.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode173.json new file mode 100644 index 0000000000000000000000000000000000000000..8533f5a934682d4c973e711870091ff119f7f0c0 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode173.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the red-capped bottle using the left arm and give it a shake.", + "Grab the Coca-Cola bottle and give it a shake.", + "Use the left arm to grab the dark drink bottle with logo and shake properly.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Shake the red-capped bottle after lifting it.", + "Lift the dark drink bottle with logo with the left arm and shake.", + "Grab the smooth bottle with red lid carefully and shake.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Grab the red-capped bottle and move it to shake.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Pick the red-capped bottle up with the left arm and shake.", + "Catch the brown bottle with red label and shake it instantly.", + "With the left arm, pick the hand-sized soda bottle and shake properly.", + "Shake the brown bottle with red label firmly after grabbing.", + "Hold the plastic drink bottle steady, then shake it.", + "Grasp the smooth bottle with red lid with the left arm and shake it.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Grab the brown bottle with red label with the left arm and shake.", + "Lift the long thin bottle with the left arm and shake it.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Lift the Coca-Cola bottle and shake it gently.", + "Utilize the left arm to hold the plastic drink bottle and shake it.", + "Use the left arm to pick and shake the plastic drink bottle.", + "Shake the the plastic drink bottle properly after lifting.", + "Grab and shake the medium dark brown bottle using the left arm.", + "Pick up the brown bottle with red label and shake it well.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Pick the plastic drink bottle and perform shaking motion.", + "Pick the smooth bottle with red lid, shake it with the left arm.", + "Lift the bottle with ridges on bottom with the left arm and give it a shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Hold the hand-sized soda bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Shake the medium dark brown bottle after grabbing it.", + "Lift up the long thin bottle using the left arm, then shake.", + "Hold and shake the the long thin bottle carefully.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Pick up the bottle with white neck and red top and shake it.", + "Shake the red-capped bottle after grabbing it.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Grip the bottle with white neck and red top using the left arm and shake.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Hold the narrow-necked bottle and shake it properly.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Take the long thin bottle using the left arm and give it a shake.", + "Grab the smooth bottle with red lid and give it a shake.", + "Use the left arm to grab the brown bottle with red label and shake properly.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Shake the medium dark brown bottle after lifting it.", + "Lift the bottle with ridges on bottom with the left arm and shake.", + "Grab the red-capped bottle carefully and shake.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Grab the Coca-Cola bottle and move it to shake.", + "Use the left arm to grab the smooth bottle with red lid and shake it.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Use the left arm to hold the dark drink bottle with logo and shake it.", + "Secure the long thin bottle, shake it, and place it down.", + "Pick the medium dark brown bottle up with the left arm and shake.", + "Catch the narrow-necked bottle and shake it instantly.", + "With the left arm, pick the red-capped bottle and shake properly.", + "Shake the red-capped bottle firmly after grabbing.", + "Hold the plastic drink bottle steady, then shake it.", + "Grasp the medium dark brown bottle with the left arm and shake it.", + "Pick the plastic drink bottle up using the left arm and shake it.", + "Grab the plastic drink bottle with the left arm and shake.", + "Lift the bottle with ridges on bottom with the left arm and shake it.", + "Hold the medium dark brown bottle, shake it briefly.", + "Shake the long thin bottle using the left arm after grabbing.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Utilize the left arm to hold the long thin bottle and shake it.", + "Use the left arm to pick and shake the medium dark brown bottle.", + "Shake the the narrow-necked bottle properly after lifting.", + "Grab and shake the red-capped bottle using the left arm.", + "Pick up the hand-sized soda bottle and shake it well.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Pick the long thin bottle, shake it with the left arm.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Use the left arm to lift and shake the red-capped bottle.", + "Shake the brown bottle with red label after grabbing it.", + "Lift up the red-capped bottle using the left arm, then shake.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Pick up the smooth bottle with red lid and shake it.", + "Shake the smooth bottle with red lid after grabbing it.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Grip the Coca-Cola bottle using the left arm and shake.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Hold the brown bottle with red label and shake it properly.", + "Secure the red-capped bottle and perform a shake." + ], + "unseen": [ + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode174.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode174.json new file mode 100644 index 0000000000000000000000000000000000000000..ab7edb1a20df46b6863d518bbd14b00de01881b0 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode174.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with ridges on bottom after grabbing it.", + "Pick up the hand-sized soda bottle and shake it well.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Hold the red-capped bottle, shake it briefly.", + "Use the left arm to pick and shake the long thin bottle.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Grab the red-capped bottle with the left arm and shake.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Shake the red-capped bottle firmly after grabbing.", + "Shake the long thin bottle after holding it firmly.", + "Pick the bottle with ridges on bottom, shake it with the left arm.", + "Lift the bottle with ridges on bottom with the left arm and give it a shake.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "Lift the brown bottle with red label and shake it gently.", + "Grab the long thin bottle carefully and shake.", + "Lift up the long thin bottle using the left arm, then shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Use the left arm to grab the smooth bottle with red lid and shake it.", + "Grip the narrow-necked bottle using the left arm and shake.", + "Utilize the left arm to hold the bottle with white neck and red top and shake it.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Shake the dark drink bottle with logo after lifting it.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Secure the narrow-necked bottle and perform a shake.", + "Lift the brown bottle with red label with the left arm and shake.", + "Use the left arm to grab the brown bottle with red label and shake properly.", + "Pick up the hand-sized soda bottle and shake it.", + "Pick the smooth bottle with red lid up using the left arm and shake it.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Secure the red-capped bottle, shake it, and place it down.", + "Hold the medium dark brown bottle and shake it properly.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Hold the brown bottle with red label steady, then shake it.", + "With the left arm, pick the bottle with white neck and red top and shake properly.", + "Grasp the bottle with ridges on bottom with the left arm and shake it.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Grab the long thin bottle using the left arm, then shake.", + "Lift the plastic drink bottle with the left arm and shake it.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Grab the smooth bottle with red lid and give it a shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Pick up the hand-sized soda bottle and shake it well.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Hold the brown bottle with red label, shake it briefly.", + "Use the left arm to pick and shake the bottle with white neck and red top.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Grab the Coca-Cola bottle and move it to shake.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Pick the medium dark brown bottle, shake it with the left arm.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Use the left arm to hold the long thin bottle and shake it.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Grab the narrow-necked bottle carefully and shake.", + "Lift up the narrow-necked bottle using the left arm, then shake.", + "Shake the red-capped bottle after grabbing it.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Grip the long thin bottle using the left arm and shake.", + "Utilize the left arm to hold the narrow-necked bottle and shake it.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Shake the brown bottle with red label after lifting it.", + "Using the left arm, shake the bottle with ridges on bottom and then place it back.", + "Secure the narrow-necked bottle and perform a shake.", + "Lift the bottle with ridges on bottom with the left arm and shake.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Pick up the dark drink bottle with logo and shake it.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Pick the brown bottle with red label and perform shaking motion.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Hold the hand-sized soda bottle and shake it properly.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Hold the brown bottle with red label steady, then shake it.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Take the medium dark brown bottle using the left arm and give it a shake.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Lift the red-capped bottle with the left arm and shake it.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Grab the brown bottle with red label and give it a shake.", + "Shake the narrow-necked bottle after grabbing it." + ], + "unseen": [ + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode175.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode175.json new file mode 100644 index 0000000000000000000000000000000000000000..32657aea865261148775cd412d07ee26ac762c3d --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode175.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the Coca-Cola bottle and perform shaking motion.", + "Take the red-capped bottle using the right arm and give it a shake.", + "Secure the long thin bottle, shake it, and place it down.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Grab the red-capped bottle carefully and shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grab and shake the long thin bottle using the right arm.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Use the right arm to grab the Coca-Cola bottle and shake it.", + "Using the right arm, shake the narrow-necked bottle and then place it back.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Grasp the bottle with white neck and red top with the right arm and shake it.", + "Use the right arm to grab the red-capped bottle and shake properly.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Use the right arm to pick and shake the dark drink bottle with logo.", + "Shake the hand-sized soda bottle using the right arm after grabbing.", + "Pick the narrow-necked bottle up using the right arm and shake it.", + "Pick up the smooth bottle with red lid and shake it.", + "Use the right arm to lift and shake the red-capped bottle.", + "Hold the brown bottle with red label, shake it briefly.", + "Pick up the narrow-necked bottle and shake it well.", + "Lift the dark drink bottle with logo with the right arm and give it a shake.", + "Hold the Coca-Cola bottle with the right arm and shake lightly.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Lift the long thin bottle with the right arm and shake.", + "With the right arm, pick the brown bottle with red label and shake properly.", + "Grab the bottle with white neck and red top using the right arm, then shake.", + "Shake the Coca-Cola bottle after lifting it.", + "Use the right arm to hold the bottle with ridges on bottom and shake it.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Grab the brown bottle with red label and give it a shake.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Lift the red-capped bottle with the right arm and shake it.", + "Grip the bottle with ridges on bottom using the right arm and shake.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Lift up the bottle with ridges on bottom using the right arm, then shake.", + "Shake the brown bottle with red label after grabbing it.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Shake the brown bottle with red label after holding it firmly.", + "Hold the medium dark brown bottle and shake it properly.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Lift the smooth bottle with red lid and shake it gently.", + "Utilize the right arm to hold the bottle with ridges on bottom and shake it.", + "Pick the hand-sized soda bottle up with the right arm and shake.", + "Grab the bottle with white neck and red top and move it to shake.", + "Shake the red-capped bottle after grabbing it.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Grab the bottle with ridges on bottom with the right arm and shake.", + "Pick the long thin bottle and perform shaking motion.", + "Take the bottle with ridges on bottom using the right arm and give it a shake.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Grab the narrow-necked bottle and shake it steadily.", + "Grab the red-capped bottle carefully and shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Grab and shake the hand-sized soda bottle using the right arm.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Use the right arm to grab the hand-sized soda bottle and shake it.", + "Using the right arm, shake the dark drink bottle with logo and then place it back.", + "Use the right arm to lift and shake the red-capped bottle.", + "Grasp the plastic drink bottle with the right arm and shake it.", + "Use the right arm to grab the red-capped bottle and shake properly.", + "Hold the medium dark brown bottle steady, then shake it.", + "Use the right arm to pick and shake the red-capped bottle.", + "Shake the Coca-Cola bottle using the right arm after grabbing.", + "Pick the plastic drink bottle up using the right arm and shake it.", + "Pick up the dark drink bottle with logo and shake it.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Hold the red-capped bottle, shake it briefly.", + "Pick up the long thin bottle and shake it well.", + "Lift the smooth bottle with red lid with the right arm and give it a shake.", + "Hold the brown bottle with red label with the right arm and shake lightly.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Lift the narrow-necked bottle with the right arm and shake.", + "With the right arm, pick the smooth bottle with red lid and shake properly.", + "Grab the bottle with white neck and red top using the right arm, then shake.", + "Shake the medium dark brown bottle after lifting it.", + "Use the right arm to hold the bottle with ridges on bottom and shake it.", + "Secure the Coca-Cola bottle and perform a shake.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Grab the bottle with white neck and red top and give it a shake.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Lift the narrow-necked bottle with the right arm and shake it.", + "Grip the Coca-Cola bottle using the right arm and shake.", + "Pick the long thin bottle, shake it with the right arm.", + "Lift up the bottle with ridges on bottom using the right arm, then shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Shake the plastic drink bottle after holding it firmly.", + "Hold the narrow-necked bottle and shake it properly.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Lift the narrow-necked bottle and shake it gently.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Pick the dark drink bottle with logo up with the right arm and shake.", + "Grab the hand-sized soda bottle and move it to shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Grab the bottle with white neck and red top with the right arm and shake." + ], + "unseen": [ + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode176.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode176.json new file mode 100644 index 0000000000000000000000000000000000000000..63777e8330883c8d9e9e8da94ac6bc00b5062a25 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode176.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and shake the handheld green bottle using the left arm.", + "Shake the smooth green bottle using the left arm after grabbing.", + "Secure the medium green bottle, shake it, and place it down.", + "Use the left arm to lift and shake the smooth green bottle.", + "Grab the handheld green bottle and move it to shake.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Lift the medium green bottle with capped neck with the left arm and shake it.", + "Hold the bottle with narrow top steady, then shake it.", + "Lift the smooth green bottle with the left arm and give it a shake.", + "Pick the green bottle with indented base up using the left arm and shake it.", + "Pick the bottle with narrow top and perform shaking motion.", + "Grip the plastic bottle using the left arm and shake.", + "With the left arm, pick the handheld green bottle and shake properly.", + "Utilize the left arm to hold the bottle with ridges near base and shake it.", + "Shake the bottle with white printed label after holding it firmly.", + "Pick the handheld green bottle, shake it with the left arm.", + "Use the left arm to hold the bottle with narrow top and shake it.", + "Shake the the bottle with ridges near base properly after lifting.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Secure the bottle with ridges near base and perform a shake.", + "Hold and shake the the medium green bottle carefully.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Use the left arm to grab the bottle with narrow top and shake properly.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Grab the bottle with narrow top using the left arm, then shake.", + "Shake the medium green bottle firmly after grabbing.", + "Lift the medium-sized green bottle and shake it gently.", + "Grasp the medium-sized green bottle with the left arm and shake it.", + "Pick the bottle with narrow top up with the left arm and shake.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Shake the green bottle with indented base after grabbing it.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Shake the smooth green bottle after lifting it.", + "Using the left arm, shake the smooth green bottle and then place it back.", + "Use the left arm to pick and shake the plastic bottle.", + "Grab the medium green bottle with capped neck and shake it steadily.", + "Lift up the green bottle with indented base using the left arm, then shake.", + "Pick up the plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake it.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Grab the smooth green bottle with the left arm and shake.", + "Hold the green bottle with indented base and shake it properly.", + "Shake the bottle with narrow top after grabbing it.", + "Lift the plastic bottle with the left arm and shake.", + "Pick up the medium green bottle and shake it well.", + "Grab the medium-sized green bottle and give it a shake.", + "Shake the bottle with ridges near base after grabbing it.", + "Hold the medium-sized green bottle, shake it briefly.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Grab the medium green bottle carefully and shake.", + "Grab and shake the bottle with narrow top using the left arm.", + "Shake the green bottle with indented base using the left arm after grabbing.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Use the left arm to lift and shake the smooth green bottle.", + "Grab the green bottle with indented base and move it to shake.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Lift the smooth green bottle with the left arm and shake it.", + "Hold the bottle with rounded neck steady, then shake it.", + "Lift the green bottle with indented base with the left arm and give it a shake.", + "Pick the medium green bottle with capped neck up using the left arm and shake it.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Grip the bottle with white printed label using the left arm and shake.", + "With the left arm, pick the plastic bottle and shake properly.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Pick the smooth green bottle, shake it with the left arm.", + "Use the left arm to hold the smooth green plastic bottle and shake it.", + "Shake the the handheld green bottle properly after lifting.", + "Catch the green bottle with indented base and shake it instantly.", + "Secure the green bottle with indented base and perform a shake.", + "Hold and shake the the bottle with narrow top carefully.", + "Use the left arm to lift and shake the plastic bottle.", + "Use the left arm to grab the smooth green plastic bottle and shake properly.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Grab the smooth green bottle using the left arm, then shake.", + "Shake the green bottle with indented base firmly after grabbing.", + "Lift the bottle with white printed label and shake it gently.", + "Grasp the bottle with narrow top with the left arm and shake it.", + "Pick the smooth green plastic bottle up with the left arm and shake.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Take the bottle with narrow top using the left arm and give it a shake.", + "Shake the green bottle with indented base after lifting it.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Use the left arm to pick and shake the smooth green plastic bottle.", + "Grab the smooth green bottle and shake it steadily.", + "Lift up the medium green bottle using the left arm, then shake.", + "Pick up the bottle with ridges near base and shake it.", + "Use the left arm to grab the smooth green bottle and shake it.", + "Use the left arm to lift and shake the medium green bottle.", + "Grab the bottle with narrow top with the left arm and shake.", + "Hold the bottle with white printed label and shake it properly.", + "Shake the smooth green plastic bottle after grabbing it.", + "Lift the smooth green plastic bottle with the left arm and shake.", + "Pick up the medium green bottle and shake it well.", + "Grab the green bottle with indented base and give it a shake.", + "Shake the medium green bottle after grabbing it.", + "Hold the medium green bottle, shake it briefly.", + "Hold the medium green bottle with capped neck with the left arm and shake lightly.", + "Grab the plastic bottle carefully and shake." + ], + "unseen": [ + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode177.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode177.json new file mode 100644 index 0000000000000000000000000000000000000000..1746e2ff84bac57355c1f0f16437948e36615141 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode177.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and shake the the Coca-Cola bottle carefully.", + "Grab the dark drink bottle with logo and give it a shake.", + "Secure the dark drink bottle with logo and perform a shake.", + "Lift the dark drink bottle with logo with the left arm and give it a shake.", + "Lift up the dark drink bottle with logo using the left arm, then shake.", + "Pick the hand-sized soda bottle up with the left arm and shake.", + "Use the left arm to hold the medium dark brown bottle and shake it.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Hold the long thin bottle steady, then shake it.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Shake the the brown bottle with red label properly after lifting.", + "Pick up the narrow-necked bottle and shake it.", + "Use the left arm to grab the Coca-Cola bottle and shake it.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Grab the bottle with white neck and red top and move it to shake.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Use the left arm to grab the bottle with ridges on bottom and shake properly.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Hold the Coca-Cola bottle and shake it properly.", + "Grip the brown bottle with red label using the left arm and shake.", + "Take the hand-sized soda bottle using the left arm and give it a shake.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Grab the bottle with white neck and red top carefully and shake.", + "Lift the red-capped bottle with the left arm and shake it.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Shake the smooth bottle with red lid after grabbing it.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "Shake the narrow-necked bottle after holding it firmly.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Pick up the brown bottle with red label and shake it well.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Using the left arm, shake the smooth bottle with red lid and then place it back.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Lift the bottle with white neck and red top and shake it gently.", + "Use the left arm to pick and shake the medium dark brown bottle.", + "Grab the Coca-Cola bottle using the left arm, then shake.", + "Grab the long thin bottle with the left arm and shake.", + "Shake the medium dark brown bottle after lifting it.", + "Grab and shake the long thin bottle using the left arm.", + "With the left arm, pick the dark drink bottle with logo and shake properly.", + "Hold and shake the the red-capped bottle carefully.", + "Grab the long thin bottle and give it a shake.", + "Secure the brown bottle with red label and perform a shake.", + "Lift the plastic drink bottle with the left arm and give it a shake.", + "Lift up the plastic drink bottle using the left arm, then shake.", + "Pick the red-capped bottle up with the left arm and shake.", + "Use the left arm to hold the red-capped bottle and shake it.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Shake the brown bottle with red label after grabbing it.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Shake the bottle with white neck and red top after grabbing it.", + "Hold the plastic drink bottle steady, then shake it.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Pick up the brown bottle with red label and shake it.", + "Use the left arm to grab the plastic drink bottle and shake it.", + "Hold the medium dark brown bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Grab the narrow-necked bottle and move it to shake.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Hold the Coca-Cola bottle and shake it properly.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Take the Coca-Cola bottle using the left arm and give it a shake.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Grab the smooth bottle with red lid carefully and shake.", + "Lift the bottle with white neck and red top with the left arm and shake it.", + "Secure the red-capped bottle, shake it, and place it down.", + "Shake the smooth bottle with red lid after grabbing it.", + "Grasp the Coca-Cola bottle with the left arm and shake it.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Catch the brown bottle with red label and shake it instantly.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Pick the smooth bottle with red lid up using the left arm and shake it.", + "Pick up the dark drink bottle with logo and shake it well.", + "Lift the narrow-necked bottle with the left arm and shake.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Pick the long thin bottle and perform shaking motion.", + "Hold the red-capped bottle, shake it briefly.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Lift the Coca-Cola bottle and shake it gently.", + "Use the left arm to pick and shake the bottle with white neck and red top.", + "Grab the dark drink bottle with logo using the left arm, then shake.", + "Grab the Coca-Cola bottle with the left arm and shake.", + "Shake the medium dark brown bottle after lifting it.", + "Grab and shake the narrow-necked bottle using the left arm.", + "With the left arm, pick the medium dark brown bottle and shake properly." + ], + "unseen": [ + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode178.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode178.json new file mode 100644 index 0000000000000000000000000000000000000000..b624119171873593ec23c8e01c861fa58240324b --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode178.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the bottle with narrow top using the left arm and shake.", + "Shake the medium green bottle after lifting it.", + "Use the left arm to hold the bottle with rounded neck and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Lift the medium-sized green bottle with the left arm and shake it.", + "Lift the bottle with ridges near base with the left arm and shake.", + "Pick up the smooth green bottle and shake it well.", + "Grab and shake the plastic bottle using the left arm.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Grasp the smooth green plastic bottle with the left arm and shake it.", + "Grab the medium-sized green bottle carefully and shake.", + "Using the left arm, shake the medium green bottle and then place it back.", + "Shake the bottle with ridges near base after grabbing it.", + "Lift the bottle with ridges near base and shake it gently.", + "Pick the medium green bottle and perform shaking motion.", + "Shake the handheld green bottle after holding it firmly.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Shake the handheld green bottle after grabbing it.", + "Secure the medium green bottle and perform a shake.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Hold the bottle with rounded neck, shake it briefly.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Secure the medium green bottle, shake it, and place it down.", + "Shake the bottle with white printed label firmly after grabbing.", + "With the left arm, pick the bottle with narrow top and shake properly.", + "Grab the smooth green plastic bottle and move it to shake.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Use the left arm to grab the bottle with narrow top and shake it.", + "Grab the bottle with narrow top with the left arm and shake.", + "Hold and shake the the handheld green bottle carefully.", + "Use the left arm to pick and shake the green bottle with indented base.", + "Take the bottle with narrow top using the left arm and give it a shake.", + "Grab the smooth green bottle and shake it steadily.", + "Shake the handheld green bottle using the left arm after grabbing.", + "Shake the the handheld green bottle properly after lifting.", + "Shake the medium green bottle after grabbing it.", + "Hold the medium-sized green bottle and shake it properly.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Pick the plastic bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Use the left arm to lift and shake the medium green bottle.", + "Lift up the plastic bottle using the left arm, then shake.", + "Pick the handheld green bottle up with the left arm and shake.", + "Utilize the left arm to hold the bottle with white printed label and shake it.", + "Grab the bottle with narrow top and give it a shake.", + "Hold the bottle with ridges near base steady, then shake it.", + "Lift the bottle with narrow top with the left arm and give it a shake.", + "Grip the bottle with ridges near base using the left arm and shake.", + "Shake the plastic bottle after lifting it.", + "Use the left arm to hold the bottle with ridges near base and shake it.", + "Pick up the smooth green plastic bottle and shake it.", + "Lift the bottle with rounded neck with the left arm and shake it.", + "Lift the plastic bottle with the left arm and shake.", + "Pick up the plastic bottle and shake it well.", + "Grab and shake the bottle with rounded neck using the left arm.", + "Use the left arm to grab the medium green bottle with capped neck and shake properly.", + "Pick the smooth green plastic bottle, shake it with the left arm.", + "Grasp the plastic bottle with the left arm and shake it.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Using the left arm, shake the medium-sized green bottle and then place it back.", + "Shake the green bottle with indented base after grabbing it.", + "Lift the medium-sized green bottle and shake it gently.", + "Pick the bottle with narrow top and perform shaking motion.", + "Shake the plastic bottle after holding it firmly.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Shake the bottle with narrow top after grabbing it.", + "Secure the smooth green bottle and perform a shake.", + "Hold the bottle with rounded neck with the left arm and shake lightly.", + "Hold the bottle with white printed label, shake it briefly.", + "Catch the handheld green bottle and shake it instantly.", + "Secure the plastic bottle, shake it, and place it down.", + "Shake the handheld green bottle firmly after grabbing.", + "With the left arm, pick the smooth green plastic bottle and shake properly.", + "Grab the smooth green bottle and move it to shake.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Use the left arm to grab the bottle with white printed label and shake it.", + "Grab the green bottle with indented base with the left arm and shake.", + "Hold and shake the the bottle with narrow top carefully.", + "Use the left arm to pick and shake the handheld green bottle.", + "Take the smooth green plastic bottle using the left arm and give it a shake.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Shake the smooth green plastic bottle using the left arm after grabbing.", + "Shake the the plastic bottle properly after lifting.", + "Shake the bottle with narrow top after grabbing it.", + "Hold the smooth green plastic bottle and shake it properly.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Pick the bottle with white printed label up using the left arm and shake it.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Use the left arm to lift and shake the smooth green bottle.", + "Lift up the bottle with white printed label using the left arm, then shake.", + "Pick the smooth green bottle up with the left arm and shake.", + "Utilize the left arm to hold the medium-sized green bottle and shake it.", + "Grab the medium-sized green bottle and give it a shake.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Lift the smooth green bottle with the left arm and give it a shake." + ], + "unseen": [ + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode179.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode179.json new file mode 100644 index 0000000000000000000000000000000000000000..58922ab1b45af53273232c98aa3848d41def053b --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode179.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the bottle with narrow top and shake it well.", + "Grab the bottle with rounded neck carefully and shake.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Shake the bottle with white printed label after grabbing it.", + "Grab and shake the green bottle with indented base using the left arm.", + "Hold and shake the the handheld green bottle carefully.", + "Lift up the medium green bottle using the left arm, then shake.", + "Shake the bottle with ridges near base after grabbing it.", + "Shake the smooth green plastic bottle after lifting it.", + "Shake the medium green bottle with capped neck after holding it firmly.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Grab the handheld green bottle and give it a shake.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Grab the bottle with white printed label with the left arm and shake.", + "Secure the smooth green bottle and perform a shake.", + "Using the left arm, shake the handheld green bottle and then place it back.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Use the left arm to pick and shake the bottle with white printed label.", + "Lift the bottle with white printed label with the left arm and shake.", + "Shake the smooth green bottle after grabbing it.", + "Hold the medium green bottle and shake it properly.", + "Grasp the bottle with rounded neck with the left arm and shake it.", + "Shake the bottle with white printed label firmly after grabbing.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Grip the bottle with narrow top using the left arm and shake.", + "Grab the bottle with ridges near base using the left arm, then shake.", + "Pick the smooth green bottle, shake it with the left arm.", + "Pick the green bottle with indented base up using the left arm and shake it.", + "Lift the plastic bottle and shake it gently.", + "Grab the bottle with narrow top and move it to shake.", + "Grab the smooth green bottle and shake it steadily.", + "Use the left arm to grab the medium green bottle and shake it.", + "Hold the handheld green bottle, shake it briefly.", + "With the left arm, pick the plastic bottle and shake properly.", + "Shake the the bottle with narrow top properly after lifting.", + "Pick the bottle with rounded neck up with the left arm and shake.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Pick up the green bottle with indented base and shake it.", + "Hold the smooth green bottle with the left arm and shake lightly.", + "Use the left arm to hold the green bottle with indented base and shake it.", + "Shake the bottle with narrow top using the left arm after grabbing.", + "Lift the medium green bottle with capped neck with the left arm and shake it.", + "Take the bottle with rounded neck using the left arm and give it a shake.", + "Lift the handheld green bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Pick up the smooth green bottle and shake it well.", + "Grab the bottle with rounded neck carefully and shake.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Lift the plastic bottle and shake it thoroughly.", + "Shake the bottle with narrow top after grabbing it.", + "Grab and shake the bottle with narrow top using the left arm.", + "Hold and shake the the plastic bottle carefully.", + "Lift up the bottle with white printed label using the left arm, then shake.", + "Shake the handheld green bottle after grabbing it.", + "Shake the medium green bottle with capped neck after lifting it.", + "Shake the medium green bottle after holding it firmly.", + "Hold the handheld green bottle steady, then shake it.", + "Grab the medium green bottle and give it a shake.", + "Use the left arm to grab the medium green bottle and shake properly.", + "Utilize the left arm to hold the bottle with narrow top and shake it.", + "Grab the smooth green bottle with the left arm and shake.", + "Secure the smooth green bottle and perform a shake.", + "Using the left arm, shake the bottle with ridges near base and then place it back.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Use the left arm to pick and shake the smooth green plastic bottle.", + "Lift the green bottle with indented base with the left arm and shake.", + "Shake the bottle with rounded neck after grabbing it.", + "Hold the bottle with white printed label and shake it properly.", + "Grasp the bottle with rounded neck with the left arm and shake it.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "Grab the bottle with narrow top using the left arm, then shake.", + "Pick the bottle with rounded neck, shake it with the left arm.", + "Pick the bottle with rounded neck up using the left arm and shake it.", + "Lift the smooth green bottle and shake it gently.", + "Grab the bottle with rounded neck and move it to shake.", + "Grab the bottle with white printed label and shake it steadily.", + "Use the left arm to grab the handheld green bottle and shake it.", + "Hold the handheld green bottle, shake it briefly.", + "With the left arm, pick the plastic bottle and shake properly.", + "Shake the the green bottle with indented base properly after lifting.", + "Pick the medium green bottle up with the left arm and shake.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Pick up the bottle with ridges near base and shake it.", + "Hold the bottle with white printed label with the left arm and shake lightly.", + "Use the left arm to hold the handheld green bottle and shake it.", + "Shake the bottle with rounded neck using the left arm after grabbing.", + "Lift the medium green bottle with capped neck with the left arm and shake it.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Lift the bottle with white printed label with the left arm and give it a shake.", + "Use the left arm to lift and shake the medium green bottle.", + "Pick the smooth green plastic bottle and perform shaking motion." + ], + "unseen": [ + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode18.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..0913b7776853813cd7c6e15c9a952026db6d61ad --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the smooth green plastic bottle after grabbing it.", + "Shake the the medium-sized green bottle properly after lifting.", + "Use the left arm to grab the plastic bottle and shake it.", + "Catch the bottle with rounded neck and shake it instantly.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Pick the plastic bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Grasp the bottle with rounded neck with the left arm and shake it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Pick the plastic bottle up with the left arm and shake.", + "Grab the handheld green bottle and shake it steadily.", + "Grab the bottle with white printed label carefully and shake.", + "Grab the medium green bottle with capped neck with the left arm and shake.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Use the left arm to hold the green bottle with indented base and shake it.", + "Pick up the handheld green bottle and shake it.", + "Lift up the handheld green bottle using the left arm, then shake.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Shake the green bottle with indented base using the left arm after grabbing.", + "Hold the medium green bottle with capped neck, shake it briefly.", + "Grab and shake the medium green bottle using the left arm.", + "Hold the bottle with rounded neck with the left arm and shake lightly.", + "Grip the green bottle with indented base using the left arm and shake.", + "With the left arm, pick the medium green bottle with capped neck and shake properly.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Lift the handheld green bottle with the left arm and shake.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Grab the bottle with rounded neck using the left arm, then shake.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Lift the handheld green bottle with the left arm and give it a shake.", + "Secure the handheld green bottle and perform a shake.", + "Lift the bottle with white printed label and shake it gently.", + "Hold the bottle with narrow top steady, then shake it.", + "Pick up the smooth green plastic bottle and shake it well.", + "Lift the smooth green bottle with the left arm and shake it.", + "Hold the bottle with narrow top and shake it properly.", + "Use the left arm to pick and shake the bottle with ridges near base.", + "Shake the bottle with ridges near base after lifting it.", + "Utilize the left arm to hold the medium green bottle and shake it.", + "Pick the bottle with white printed label, shake it with the left arm.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Shake the bottle with rounded neck after grabbing it.", + "Hold and shake the the medium green bottle carefully.", + "Using the left arm, shake the smooth green bottle and then place it back.", + "Shake the handheld green bottle after holding it firmly.", + "Take the green bottle with indented base using the left arm and give it a shake.", + "Shake the plastic bottle after grabbing it.", + "Shake the the bottle with rounded neck properly after lifting.", + "Use the left arm to grab the smooth green plastic bottle and shake it.", + "Catch the bottle with rounded neck and shake it instantly.", + "Grab the bottle with white printed label and move it to shake.", + "Pick the bottle with ridges near base up using the left arm and shake it.", + "Use the left arm to lift and shake the medium green bottle.", + "Grasp the bottle with narrow top with the left arm and shake it.", + "Shake the bottle with rounded neck after grabbing it.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Pick the smooth green bottle up with the left arm and shake.", + "Grab the handheld green bottle and shake it steadily.", + "Grab the smooth green plastic bottle carefully and shake.", + "Grab the plastic bottle with the left arm and shake.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Lift up the bottle with white printed label using the left arm, then shake.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Shake the bottle with rounded neck using the left arm after grabbing.", + "Hold the medium-sized green bottle, shake it briefly.", + "Grab and shake the handheld green bottle using the left arm.", + "Hold the bottle with white printed label with the left arm and shake lightly.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "With the left arm, pick the bottle with white printed label and shake properly.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Lift the medium-sized green bottle with the left arm and shake.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Grab the smooth green bottle using the left arm, then shake.", + "Grab the bottle with rounded neck and give it a shake.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Lift the smooth green plastic bottle with the left arm and give it a shake.", + "Secure the bottle with rounded neck and perform a shake.", + "Lift the bottle with ridges near base and shake it gently.", + "Hold the bottle with rounded neck steady, then shake it.", + "Pick up the bottle with rounded neck and shake it well.", + "Lift the bottle with rounded neck with the left arm and shake it.", + "Hold the handheld green bottle and shake it properly.", + "Use the left arm to pick and shake the medium green bottle.", + "Shake the bottle with rounded neck after lifting it.", + "Utilize the left arm to hold the smooth green plastic bottle and shake it.", + "Pick the bottle with white printed label, shake it with the left arm.", + "Lift the medium green bottle and shake it thoroughly.", + "Shake the handheld green bottle after grabbing it.", + "Hold and shake the the smooth green bottle carefully.", + "Using the left arm, shake the bottle with ridges near base and then place it back.", + "Shake the medium green bottle with capped neck after holding it firmly.", + "Take the smooth green plastic bottle using the left arm and give it a shake." + ], + "unseen": [ + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode180.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode180.json new file mode 100644 index 0000000000000000000000000000000000000000..a46af7db3c329e71118346f047bf82420bc82ef5 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode180.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the right arm, pick the smooth green plastic bottle and shake properly.", + "Use the right arm to pick and shake the smooth green plastic bottle.", + "Shake the medium green bottle after grabbing it.", + "Use the right arm to hold the handheld green bottle and shake it.", + "Hold the bottle with narrow top steady, then shake it.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Catch the smooth green bottle and shake it instantly.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Grip the medium-sized green bottle using the right arm and shake.", + "Pick the green bottle with indented base up using the right arm and shake it.", + "Pick up the bottle with narrow top and shake it.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Take the medium green bottle with capped neck using the right arm and give it a shake.", + "Hold the bottle with rounded neck and shake it properly.", + "Lift the smooth green bottle with the right arm and shake.", + "Grab and shake the bottle with rounded neck using the right arm.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Shake the bottle with ridges near base after grabbing it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Hold the bottle with ridges near base, shake it briefly.", + "Use the right arm to lift and shake the medium green bottle.", + "Lift the bottle with rounded neck and shake it gently.", + "Secure the medium green bottle, shake it, and place it down.", + "Use the right arm to grab the smooth green bottle and shake it.", + "Using the right arm, shake the bottle with ridges near base and then place it back.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Pick the bottle with rounded neck up with the right arm and shake.", + "Pick up the green bottle with indented base and shake it well.", + "Grab the bottle with white printed label carefully and shake.", + "Hold the green bottle with indented base with the right arm and shake lightly.", + "Grab the green bottle with indented base and move it to shake.", + "Lift the medium-sized green bottle with the right arm and give it a shake.", + "Grab the smooth green bottle with the right arm and shake.", + "Pick the smooth green bottle, shake it with the right arm.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Grab the bottle with ridges near base and shake it steadily.", + "Grab the green bottle with indented base using the right arm, then shake.", + "Secure the bottle with narrow top and perform a shake.", + "Use the right arm to grab the smooth green bottle and shake properly.", + "Lift up the green bottle with indented base using the right arm, then shake.", + "Shake the bottle with narrow top using the right arm after grabbing.", + "Grasp the handheld green bottle with the right arm and shake it.", + "Shake the green bottle with indented base after holding it firmly.", + "Utilize the right arm to hold the bottle with white printed label and shake it.", + "Shake the medium-sized green bottle after lifting it.", + "Lift the medium-sized green bottle with the right arm and shake it.", + "Lift the handheld green bottle and shake it thoroughly.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "With the right arm, pick the handheld green bottle and shake properly.", + "Use the right arm to pick and shake the smooth green plastic bottle.", + "Shake the bottle with white printed label after grabbing it.", + "Use the right arm to hold the bottle with ridges near base and shake it.", + "Hold the green bottle with indented base steady, then shake it.", + "Use the right arm to lift and shake the handheld green bottle.", + "Catch the medium-sized green bottle and shake it instantly.", + "Shake the the bottle with white printed label properly after lifting.", + "Grip the bottle with narrow top using the right arm and shake.", + "Pick the bottle with ridges near base up using the right arm and shake it.", + "Pick up the plastic bottle and shake it.", + "Pick the green bottle with indented base and perform shaking motion.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Hold and shake the the medium green bottle carefully.", + "Take the medium-sized green bottle using the right arm and give it a shake.", + "Hold the bottle with narrow top and shake it properly.", + "Lift the bottle with narrow top with the right arm and shake.", + "Grab and shake the bottle with rounded neck using the right arm.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Shake the bottle with narrow top after grabbing it.", + "Shake the bottle with white printed label after grabbing it.", + "Hold the bottle with narrow top, shake it briefly.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Secure the medium green bottle, shake it, and place it down.", + "Use the right arm to grab the green bottle with indented base and shake it.", + "Using the right arm, shake the green bottle with indented base and then place it back.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Pick the medium-sized green bottle up with the right arm and shake.", + "Pick up the bottle with narrow top and shake it well.", + "Grab the plastic bottle carefully and shake.", + "Hold the bottle with white printed label with the right arm and shake lightly.", + "Grab the bottle with narrow top and move it to shake.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Grab the bottle with rounded neck with the right arm and shake.", + "Pick the bottle with white printed label, shake it with the right arm.", + "Grab the medium green bottle and give it a shake.", + "Grab the smooth green bottle and shake it steadily.", + "Grab the plastic bottle using the right arm, then shake.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Use the right arm to grab the bottle with white printed label and shake properly.", + "Lift up the handheld green bottle using the right arm, then shake.", + "Shake the handheld green bottle using the right arm after grabbing.", + "Grasp the medium-sized green bottle with the right arm and shake it.", + "Shake the bottle with narrow top after holding it firmly.", + "Utilize the right arm to hold the medium-sized green bottle and shake it.", + "Shake the medium green bottle after lifting it.", + "Lift the bottle with ridges near base with the right arm and shake it.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Shake the bottle with white printed label thoroughly after grabbing it." + ], + "unseen": [ + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode181.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode181.json new file mode 100644 index 0000000000000000000000000000000000000000..d1518279d4562f1bee5e950c7401ca70628de554 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode181.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the red-capped bottle and shake it.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Use the right arm to grab the red-capped bottle and shake it.", + "Lift the red-capped bottle with the right arm and shake it.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Lift the medium dark brown bottle with the right arm and give it a shake.", + "Pick the plastic drink bottle and perform shaking motion.", + "Shake the dark drink bottle with logo after grabbing it.", + "Pick up the narrow-necked bottle and shake it well.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Hold and shake the the plastic drink bottle carefully.", + "Lift the Coca-Cola bottle with the right arm and shake.", + "Lift the narrow-necked bottle and shake it gently.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Pick the red-capped bottle up using the right arm and shake it.", + "Use the right arm to hold the plastic drink bottle and shake it.", + "Grab the brown bottle with red label and move it to shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Grab the smooth bottle with red lid using the right arm, then shake.", + "Use the right arm to pick and shake the smooth bottle with red lid.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Lift up the hand-sized soda bottle using the right arm, then shake.", + "Shake the dark drink bottle with logo using the right arm after grabbing.", + "Pick the bottle with white neck and red top, shake it with the right arm.", + "Shake the brown bottle with red label after holding it firmly.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Using the right arm, shake the red-capped bottle and then place it back.", + "Hold the red-capped bottle, shake it briefly.", + "Hold the long thin bottle with the right arm and shake lightly.", + "Hold the plastic drink bottle and shake it properly.", + "Grab the brown bottle with red label with the right arm and shake.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Hold the plastic drink bottle steady, then shake it.", + "Pick the hand-sized soda bottle up with the right arm and shake.", + "Catch the dark drink bottle with logo and shake it instantly.", + "With the right arm, pick the narrow-necked bottle and shake properly.", + "Take the red-capped bottle using the right arm and give it a shake.", + "Use the right arm to grab the dark drink bottle with logo and shake properly.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Grab and shake the Coca-Cola bottle using the right arm.", + "Grasp the bottle with white neck and red top with the right arm and shake it.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Grab the narrow-necked bottle and give it a shake.", + "Shake the dark drink bottle with logo after lifting it.", + "Utilize the right arm to hold the brown bottle with red label and shake it.", + "Pick up the smooth bottle with red lid and shake it.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Use the right arm to grab the bottle with ridges on bottom and shake it.", + "Lift the dark drink bottle with logo with the right arm and shake it.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Lift the long thin bottle with the right arm and give it a shake.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Shake the hand-sized soda bottle after grabbing it.", + "Pick up the hand-sized soda bottle and shake it well.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Secure the hand-sized soda bottle and perform a shake.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Hold and shake the the medium dark brown bottle carefully.", + "Lift the hand-sized soda bottle with the right arm and shake.", + "Lift the medium dark brown bottle and shake it gently.", + "Grab the medium dark brown bottle carefully and shake.", + "Pick the bottle with ridges on bottom up using the right arm and shake it.", + "Use the right arm to hold the smooth bottle with red lid and shake it.", + "Grab the narrow-necked bottle and move it to shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Grab the smooth bottle with red lid using the right arm, then shake.", + "Use the right arm to pick and shake the narrow-necked bottle.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Lift up the smooth bottle with red lid using the right arm, then shake.", + "Shake the bottle with white neck and red top using the right arm after grabbing.", + "Pick the Coca-Cola bottle, shake it with the right arm.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Shake the plastic drink bottle after grabbing it.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Using the right arm, shake the hand-sized soda bottle and then place it back.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Hold the brown bottle with red label with the right arm and shake lightly.", + "Hold the Coca-Cola bottle and shake it properly.", + "Grab the brown bottle with red label with the right arm and shake.", + "Grip the red-capped bottle using the right arm and shake.", + "Hold the medium dark brown bottle steady, then shake it.", + "Pick the hand-sized soda bottle up with the right arm and shake.", + "Catch the smooth bottle with red lid and shake it instantly.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Take the medium dark brown bottle using the right arm and give it a shake.", + "Use the right arm to grab the dark drink bottle with logo and shake properly.", + "Grab the long thin bottle and shake it steadily.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Grab and shake the brown bottle with red label using the right arm.", + "Grasp the red-capped bottle with the right arm and shake it.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Grab the Coca-Cola bottle and give it a shake.", + "Shake the bottle with ridges on bottom after lifting it.", + "Utilize the right arm to hold the Coca-Cola bottle and shake it." + ], + "unseen": [ + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode182.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode182.json new file mode 100644 index 0000000000000000000000000000000000000000..212723ac55247954f3c810b342f1bc8ff8315f20 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode182.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the narrow-necked bottle and shake it steadily.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Pick up the hand-sized soda bottle and shake it.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Pick up the smooth bottle with red lid and shake it well.", + "Pick the long thin bottle, shake it with the left arm.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Lift the long thin bottle and shake it gently.", + "Take the hand-sized soda bottle using the left arm and give it a shake.", + "Shake the brown bottle with red label using the left arm after grabbing.", + "Use the left arm to grab the plastic drink bottle and shake properly.", + "Secure the smooth bottle with red lid and perform a shake.", + "Use the left arm to hold the long thin bottle and shake it.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Shake the the medium dark brown bottle properly after lifting.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "Grab and shake the medium dark brown bottle using the left arm.", + "Shake the Coca-Cola bottle after lifting it.", + "Grab the hand-sized soda bottle and move it to shake.", + "Pick the plastic drink bottle and perform shaking motion.", + "Pick the brown bottle with red label up with the left arm and shake.", + "Hold the hand-sized soda bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Shake the long thin bottle after holding it firmly.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Use the left arm to grab the red-capped bottle and shake it.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Grip the bottle with white neck and red top using the left arm and shake.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Catch the plastic drink bottle and shake it instantly.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Shake the smooth bottle with red lid after grabbing it.", + "Hold the red-capped bottle steady, then shake it.", + "Grab the Coca-Cola bottle using the left arm, then shake.", + "Grab the plastic drink bottle carefully and shake.", + "Lift up the plastic drink bottle using the left arm, then shake.", + "Grasp the medium dark brown bottle with the left arm and shake it.", + "Shake the red-capped bottle after grabbing it.", + "Shake the medium dark brown bottle after grabbing it.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Utilize the left arm to hold the narrow-necked bottle and shake it.", + "Grab the Coca-Cola bottle with the left arm and shake.", + "With the left arm, pick the medium dark brown bottle and shake properly.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Using the left arm, shake the narrow-necked bottle and then place it back.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Hold the plastic drink bottle, shake it briefly.", + "Pick up the Coca-Cola bottle and shake it.", + "Lift the long thin bottle with the left arm and give it a shake.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Pick up the long thin bottle and shake it well.", + "Pick the hand-sized soda bottle, shake it with the left arm.", + "Shake the brown bottle with red label firmly after grabbing.", + "Lift the long thin bottle and shake it gently.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Shake the bottle with white neck and red top using the left arm after grabbing.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Secure the long thin bottle and perform a shake.", + "Use the left arm to hold the bottle with white neck and red top and shake it.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Shake the the narrow-necked bottle properly after lifting.", + "Lift the plastic drink bottle with the left arm and shake it.", + "Grab and shake the narrow-necked bottle using the left arm.", + "Shake the hand-sized soda bottle after lifting it.", + "Grab the smooth bottle with red lid and move it to shake.", + "Pick the plastic drink bottle and perform shaking motion.", + "Pick the narrow-necked bottle up with the left arm and shake.", + "Hold the bottle with ridges on bottom with the left arm and shake lightly.", + "Use the left arm to lift and shake the red-capped bottle.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Grab the hand-sized soda bottle and give it a shake.", + "Use the left arm to grab the plastic drink bottle and shake it.", + "Hold the smooth bottle with red lid and shake it properly.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Lift the plastic drink bottle with the left arm and shake.", + "Grip the brown bottle with red label using the left arm and shake.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Catch the red-capped bottle and shake it instantly.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Shake the brown bottle with red label after grabbing it.", + "Hold the red-capped bottle steady, then shake it.", + "Grab the long thin bottle using the left arm, then shake.", + "Grab the medium dark brown bottle carefully and shake.", + "Lift up the bottle with white neck and red top using the left arm, then shake.", + "Grasp the medium dark brown bottle with the left arm and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Pick the bottle with white neck and red top up using the left arm and shake it.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "With the left arm, pick the bottle with white neck and red top and shake properly.", + "Hold and shake the the medium dark brown bottle carefully.", + "Using the left arm, shake the smooth bottle with red lid and then place it back." + ], + "unseen": [ + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode183.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode183.json new file mode 100644 index 0000000000000000000000000000000000000000..71882cbef642dac06b8af09bcc037016864d3369 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode183.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the left arm, pick the medium green bottle with capped neck and shake properly.", + "Pick up the medium green bottle and shake it well.", + "Pick the bottle with ridges near base up with the left arm and shake.", + "Use the left arm to grab the bottle with rounded neck and shake it.", + "Lift the bottle with rounded neck and shake it gently.", + "Shake the medium-sized green bottle after grabbing it.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Hold the medium green bottle steady, then shake it.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Hold and shake the the handheld green bottle carefully.", + "Shake the bottle with narrow top after holding it firmly.", + "Grab and shake the handheld green bottle using the left arm.", + "Shake the medium green bottle with capped neck after lifting it.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Pick up the medium-sized green bottle and shake it.", + "Use the left arm to pick and shake the bottle with ridges near base.", + "Hold the smooth green bottle, shake it briefly.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "Pick the bottle with narrow top, shake it with the left arm.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Grab the handheld green bottle and move it to shake.", + "Shake the bottle with ridges near base after grabbing it.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Shake the the bottle with rounded neck properly after lifting.", + "Lift the medium-sized green bottle with the left arm and shake it.", + "Use the left arm to lift and shake the handheld green bottle.", + "Grab the smooth green bottle with the left arm and shake.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Grasp the bottle with narrow top with the left arm and shake it.", + "Lift the bottle with ridges near base with the left arm and shake.", + "Lift up the bottle with ridges near base using the left arm, then shake.", + "Grab the bottle with narrow top carefully and shake.", + "Use the left arm to hold the bottle with ridges near base and shake it.", + "Grab the bottle with rounded neck using the left arm, then shake.", + "Use the left arm to grab the smooth green plastic bottle and shake properly.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Using the left arm, shake the bottle with ridges near base and then place it back.", + "Grab the plastic bottle and give it a shake.", + "Shake the green bottle with indented base using the left arm after grabbing.", + "Pick the plastic bottle up using the left arm and shake it.", + "Lift the handheld green bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Hold the bottle with white printed label with the left arm and shake lightly.", + "Secure the bottle with white printed label and perform a shake.", + "Hold the bottle with narrow top and shake it properly.", + "With the left arm, pick the plastic bottle and shake properly.", + "Pick up the bottle with ridges near base and shake it well.", + "Pick the medium green bottle up with the left arm and shake.", + "Use the left arm to grab the green bottle with indented base and shake it.", + "Lift the medium-sized green bottle and shake it gently.", + "Shake the bottle with narrow top after grabbing it.", + "Utilize the left arm to hold the bottle with rounded neck and shake it.", + "Shake the medium green bottle after grabbing it.", + "Hold the medium green bottle steady, then shake it.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Shake the medium green bottle with capped neck after holding it firmly.", + "Grab and shake the smooth green bottle using the left arm.", + "Shake the bottle with rounded neck after lifting it.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Pick up the green bottle with indented base and shake it.", + "Use the left arm to pick and shake the plastic bottle.", + "Hold the bottle with narrow top, shake it briefly.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Grip the bottle with rounded neck using the left arm and shake.", + "Pick the bottle with narrow top, shake it with the left arm.", + "Secure the medium green bottle, shake it, and place it down.", + "Grab the smooth green plastic bottle and move it to shake.", + "Shake the bottle with white printed label after grabbing it.", + "Take the bottle with narrow top using the left arm and give it a shake.", + "Shake the the medium green bottle properly after lifting.", + "Lift the smooth green bottle with the left arm and shake it.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Grab the bottle with narrow top with the left arm and shake.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Grasp the medium green bottle with the left arm and shake it.", + "Lift the handheld green bottle with the left arm and shake.", + "Lift up the bottle with narrow top using the left arm, then shake.", + "Grab the smooth green bottle carefully and shake.", + "Use the left arm to hold the bottle with rounded neck and shake it.", + "Grab the plastic bottle using the left arm, then shake.", + "Use the left arm to grab the smooth green bottle and shake properly.", + "Catch the bottle with rounded neck and shake it instantly.", + "Using the left arm, shake the green bottle with indented base and then place it back.", + "Grab the smooth green plastic bottle and give it a shake.", + "Shake the handheld green bottle using the left arm after grabbing.", + "Pick the smooth green bottle up using the left arm and shake it.", + "Lift the green bottle with indented base with the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Hold the green bottle with indented base with the left arm and shake lightly.", + "Secure the plastic bottle and perform a shake.", + "Hold the bottle with narrow top and shake it properly." + ], + "unseen": [ + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode184.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode184.json new file mode 100644 index 0000000000000000000000000000000000000000..3e113e503b9e476f7b7236bc5968d27f51900fb1 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode184.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the medium green bottle with the right arm and shake it.", + "Pick up the medium-sized green bottle and shake it well.", + "Shake the the bottle with rounded neck properly after lifting.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Hold the medium green bottle with capped neck, shake it briefly.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Grab the bottle with rounded neck using the right arm, then shake.", + "Lift up the plastic bottle using the right arm, then shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Pick up the smooth green plastic bottle and shake it.", + "Pick the medium green bottle up with the right arm and shake.", + "With the right arm, pick the smooth green plastic bottle and shake properly.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Grab the bottle with ridges near base carefully and shake.", + "Hold the handheld green bottle and shake it properly.", + "Hold the bottle with ridges near base steady, then shake it.", + "Shake the medium green bottle after grabbing it.", + "Lift the bottle with white printed label with the right arm and shake it.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Shake the smooth green bottle after holding it firmly.", + "Grab the smooth green bottle and give it a shake.", + "Lift the bottle with rounded neck with the right arm and shake.", + "Lift the smooth green bottle with the right arm and give it a shake.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Grab the medium-sized green bottle and shake it steadily.", + "Grip the medium-sized green bottle using the right arm and shake.", + "Grab the bottle with narrow top with the right arm and shake.", + "Pick the bottle with white printed label and perform shaking motion.", + "Use the right arm to hold the bottle with white printed label and shake it.", + "Utilize the right arm to hold the medium green bottle and shake it.", + "Lift the medium green bottle and shake it gently.", + "Shake the smooth green bottle after grabbing it.", + "Shake the smooth green bottle after lifting it.", + "Use the right arm to pick and shake the bottle with white printed label.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Use the right arm to grab the bottle with white printed label and shake it.", + "Hold the medium green bottle with the right arm and shake lightly.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Catch the handheld green bottle and shake it instantly.", + "Shake the green bottle with indented base using the right arm after grabbing.", + "Hold and shake the the green bottle with indented base carefully.", + "Grab and shake the medium-sized green bottle using the right arm.", + "Using the right arm, shake the bottle with narrow top and then place it back.", + "Pick the medium green bottle, shake it with the right arm.", + "Pick the smooth green bottle up using the right arm and shake it.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Use the right arm to grab the medium-sized green bottle and shake properly.", + "Secure the medium-sized green bottle and perform a shake.", + "Take the smooth green plastic bottle using the right arm and give it a shake.", + "Grasp the green bottle with indented base with the right arm and shake it.", + "Pick up the bottle with rounded neck and shake it well.", + "Shake the the bottle with narrow top properly after lifting.", + "Use the right arm to lift and shake the plastic bottle.", + "Hold the bottle with rounded neck, shake it briefly.", + "Grab the bottle with white printed label and move it to shake.", + "Grab the medium green bottle using the right arm, then shake.", + "Lift up the bottle with ridges near base using the right arm, then shake.", + "Shake the green bottle with indented base after grabbing it.", + "Pick up the handheld green bottle and shake it.", + "Pick the bottle with rounded neck up with the right arm and shake.", + "With the right arm, pick the bottle with rounded neck and shake properly.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Grab the plastic bottle carefully and shake.", + "Hold the bottle with rounded neck and shake it properly.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Shake the bottle with white printed label after grabbing it.", + "Lift the plastic bottle with the right arm and shake it.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Lift the medium green bottle with the right arm and shake.", + "Lift the smooth green bottle with the right arm and give it a shake.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Grab the medium green bottle and shake it steadily.", + "Grip the handheld green bottle using the right arm and shake.", + "Grab the green bottle with indented base with the right arm and shake.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Use the right arm to hold the medium-sized green bottle and shake it.", + "Utilize the right arm to hold the bottle with white printed label and shake it.", + "Lift the medium-sized green bottle and shake it gently.", + "Shake the green bottle with indented base after grabbing it.", + "Shake the plastic bottle after lifting it.", + "Use the right arm to pick and shake the smooth green plastic bottle.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Use the right arm to grab the handheld green bottle and shake it.", + "Hold the bottle with rounded neck with the right arm and shake lightly.", + "Lift the medium green bottle and shake it thoroughly.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Shake the medium green bottle with capped neck using the right arm after grabbing.", + "Hold and shake the the green bottle with indented base carefully.", + "Grab and shake the medium green bottle using the right arm.", + "Using the right arm, shake the green bottle with indented base and then place it back.", + "Pick the plastic bottle, shake it with the right arm.", + "Pick the medium-sized green bottle up using the right arm and shake it.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Use the right arm to grab the medium-sized green bottle and shake properly.", + "Secure the medium-sized green bottle and perform a shake.", + "Take the handheld green bottle using the right arm and give it a shake." + ], + "unseen": [ + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode185.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode185.json new file mode 100644 index 0000000000000000000000000000000000000000..7d776f6d09f0d355ae558308f6b05c0a5b4b1cd4 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode185.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with rounded neck after grabbing it.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Hold the medium green bottle and shake it properly.", + "Shake the the medium green bottle properly after lifting.", + "Grab the bottle with rounded neck and move it to shake.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Lift the medium green bottle with capped neck with the left arm and shake.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Use the left arm to pick and shake the bottle with white printed label.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Grab the bottle with narrow top and shake it steadily.", + "Pick the medium green bottle with capped neck up using the left arm and shake it.", + "Use the left arm to lift and shake the smooth green bottle.", + "Shake the medium green bottle with capped neck using the left arm after grabbing.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Pick up the handheld green bottle and shake it.", + "Pick up the smooth green bottle and shake it well.", + "Hold the bottle with narrow top with the left arm and shake lightly.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Shake the handheld green bottle after lifting it.", + "Pick the smooth green bottle up with the left arm and shake.", + "Lift up the bottle with narrow top using the left arm, then shake.", + "Use the left arm to hold the bottle with rounded neck and shake it.", + "Grab the bottle with ridges near base carefully and shake.", + "Grab the medium-sized green bottle and give it a shake.", + "Lift the handheld green bottle and shake it thoroughly.", + "Using the left arm, shake the green bottle with indented base and then place it back.", + "Take the smooth green plastic bottle using the left arm and give it a shake.", + "Grab the medium-sized green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle with indented base and shake it.", + "Grab the smooth green plastic bottle using the left arm, then shake.", + "Shake the bottle with rounded neck after grabbing it.", + "Use the left arm to grab the bottle with white printed label and shake properly.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the green bottle with indented base after holding it firmly.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Hold and shake the the green bottle with indented base carefully.", + "Secure the handheld green bottle and perform a shake.", + "Shake the bottle with rounded neck after grabbing it.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Hold the bottle with ridges near base steady, then shake it.", + "With the left arm, pick the medium green bottle and shake properly.", + "Pick the green bottle with indented base, shake it with the left arm.", + "Hold the smooth green bottle, shake it briefly.", + "Grip the plastic bottle using the left arm and shake.", + "Grab and shake the medium green bottle with capped neck using the left arm.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Grasp the bottle with white printed label with the left arm and shake it.", + "Shake the handheld green bottle after grabbing it.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Hold the smooth green plastic bottle and shake it properly.", + "Shake the the medium-sized green bottle properly after lifting.", + "Grab the bottle with ridges near base and move it to shake.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Lift the smooth green bottle with the left arm and shake.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Use the left arm to pick and shake the medium green bottle with capped neck.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Grab the medium-sized green bottle and shake it steadily.", + "Pick the handheld green bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the medium green bottle.", + "Shake the handheld green bottle using the left arm after grabbing.", + "Lift the bottle with ridges near base and shake it gently.", + "Catch the handheld green bottle and shake it instantly.", + "Pick up the bottle with narrow top and shake it.", + "Pick up the medium green bottle and shake it well.", + "Hold the medium-sized green bottle with the left arm and shake lightly.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Shake the bottle with rounded neck after lifting it.", + "Pick the bottle with white printed label up with the left arm and shake.", + "Lift up the handheld green bottle using the left arm, then shake.", + "Use the left arm to hold the handheld green bottle and shake it.", + "Grab the smooth green bottle carefully and shake.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Using the left arm, shake the bottle with ridges near base and then place it back.", + "Take the bottle with ridges near base using the left arm and give it a shake.", + "Grab the medium-sized green bottle with the left arm and shake.", + "Use the left arm to grab the bottle with rounded neck and shake it.", + "Grab the bottle with rounded neck using the left arm, then shake.", + "Shake the bottle with narrow top after grabbing it.", + "Use the left arm to grab the smooth green plastic bottle and shake properly.", + "Use the left arm to lift and shake the smooth green bottle.", + "Shake the plastic bottle after holding it firmly.", + "Utilize the left arm to hold the medium green bottle and shake it.", + "Hold and shake the the medium-sized green bottle carefully.", + "Secure the handheld green bottle and perform a shake.", + "Shake the bottle with ridges near base after grabbing it.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Hold the green bottle with indented base steady, then shake it.", + "With the left arm, pick the green bottle with indented base and shake properly.", + "Pick the medium-sized green bottle, shake it with the left arm.", + "Hold the plastic bottle, shake it briefly.", + "Grip the bottle with white printed label using the left arm and shake.", + "Grab and shake the bottle with narrow top using the left arm.", + "Lift the medium green bottle with capped neck with the left arm and shake it.", + "Grasp the bottle with white printed label with the left arm and shake it." + ], + "unseen": [ + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode186.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode186.json new file mode 100644 index 0000000000000000000000000000000000000000..00e05f501bd60c31fd0087f997490747e2f5c275 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode186.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Grab the narrow-necked bottle and give it a shake.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Secure the smooth bottle with red lid and perform a shake.", + "Shake the bottle with white neck and red top using the left arm after grabbing.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Lift up the narrow-necked bottle using the left arm, then shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Hold the dark drink bottle with logo and shake it properly.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Grab the Coca-Cola bottle with the left arm and shake.", + "Hold the narrow-necked bottle with the left arm and shake lightly.", + "Utilize the left arm to hold the brown bottle with red label and shake it.", + "Pick the smooth bottle with red lid up using the left arm and shake it.", + "Hold and shake the the red-capped bottle carefully.", + "Use the left arm to grab the Coca-Cola bottle and shake it.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Lift the long thin bottle with the left arm and shake it.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Use the left arm to hold the bottle with ridges on bottom and shake it.", + "Using the left arm, shake the bottle with white neck and red top and then place it back.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Lift the smooth bottle with red lid and shake it gently.", + "Grab and shake the medium dark brown bottle using the left arm.", + "Grab the red-capped bottle and shake it steadily.", + "Take the medium dark brown bottle using the left arm and give it a shake.", + "Lift the red-capped bottle with the left arm and shake.", + "Hold the bottle with white neck and red top, shake it briefly.", + "With the left arm, pick the hand-sized soda bottle and shake properly.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Pick up the bottle with ridges on bottom and shake it.", + "Grab the hand-sized soda bottle using the left arm, then shake.", + "Pick up the brown bottle with red label and shake it well.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Shake the plastic drink bottle after lifting it.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Shake the bottle with white neck and red top after grabbing it.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Grab the smooth bottle with red lid and give it a shake.", + "Shake the medium dark brown bottle after holding it firmly.", + "Pick the dark drink bottle with logo, shake it with the left arm.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Grip the narrow-necked bottle using the left arm and shake.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Secure the brown bottle with red label and perform a shake.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Grab the red-capped bottle carefully and shake.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Catch the long thin bottle and shake it instantly.", + "Lift up the bottle with white neck and red top using the left arm, then shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the left arm to pick and shake the hand-sized soda bottle.", + "Hold the medium dark brown bottle and shake it properly.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Grab the narrow-necked bottle with the left arm and shake.", + "Hold the narrow-necked bottle with the left arm and shake lightly.", + "Utilize the left arm to hold the plastic drink bottle and shake it.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Use the left arm to grab the Coca-Cola bottle and shake it.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Shake the the plastic drink bottle properly after lifting.", + "Lift the bottle with white neck and red top with the left arm and shake it.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "Use the left arm to hold the medium dark brown bottle and shake it.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Grab the dark drink bottle with logo and move it to shake.", + "Lift the long thin bottle and shake it gently.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Grab the red-capped bottle and shake it steadily.", + "Take the brown bottle with red label using the left arm and give it a shake.", + "Lift the bottle with ridges on bottom with the left arm and shake.", + "Hold the smooth bottle with red lid, shake it briefly.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Pick up the dark drink bottle with logo and shake it.", + "Grab the long thin bottle using the left arm, then shake.", + "Pick up the hand-sized soda bottle and shake it well.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Shake the bottle with white neck and red top after grabbing it.", + "Shake the red-capped bottle after lifting it." + ], + "unseen": [ + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode187.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode187.json new file mode 100644 index 0000000000000000000000000000000000000000..a6b16939fbc3bfdd9a6afc55e8a5f2237ceecb50 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode187.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with ridges near base after lifting it.", + "Hold the bottle with narrow top with the left arm and shake lightly.", + "Shake the bottle with narrow top after grabbing it.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Grab the bottle with narrow top carefully and shake.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Lift the bottle with ridges near base and shake it gently.", + "Grip the bottle with narrow top using the left arm and shake.", + "Shake the the green bottle with indented base properly after lifting.", + "Grab the medium green bottle with the left arm and shake.", + "Hold the bottle with rounded neck, shake it briefly.", + "Take the bottle with narrow top using the left arm and give it a shake.", + "Use the left arm to grab the green bottle with indented base and shake properly.", + "With the left arm, pick the bottle with white printed label and shake properly.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Pick up the bottle with narrow top and shake it well.", + "Shake the bottle with narrow top after grabbing it.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Lift the medium green bottle with capped neck with the left arm and shake it.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Hold and shake the the plastic bottle carefully.", + "Catch the medium-sized green bottle and shake it instantly.", + "Grab the green bottle with indented base and shake it steadily.", + "Pick up the medium green bottle with capped neck and shake it.", + "Pick the medium green bottle up with the left arm and shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Grab and shake the green bottle with indented base using the left arm.", + "Lift the bottle with ridges near base with the left arm and shake.", + "Using the left arm, shake the bottle with ridges near base and then place it back.", + "Grasp the bottle with white printed label with the left arm and shake it.", + "Lift the handheld green bottle with the left arm and give it a shake.", + "Use the left arm to hold the smooth green plastic bottle and shake it.", + "Use the left arm to pick and shake the smooth green bottle.", + "Shake the bottle with white printed label firmly after grabbing.", + "Grab the bottle with white printed label and give it a shake.", + "Use the left arm to grab the plastic bottle and shake it.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Pick the green bottle with indented base, shake it with the left arm.", + "Pick the smooth green bottle up using the left arm and shake it.", + "Lift up the handheld green bottle using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Hold the bottle with narrow top steady, then shake it.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Shake the smooth green plastic bottle using the left arm after grabbing.", + "Utilize the left arm to hold the bottle with rounded neck and shake it.", + "Hold the bottle with white printed label and shake it properly.", + "Shake the bottle with rounded neck after lifting it.", + "Hold the bottle with white printed label with the left arm and shake lightly.", + "Shake the bottle with white printed label after grabbing it.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Grab the green bottle with indented base carefully and shake.", + "Secure the handheld green bottle and perform a shake.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Lift the medium green bottle and shake it gently.", + "Grip the bottle with narrow top using the left arm and shake.", + "Shake the the medium-sized green bottle properly after lifting.", + "Grab the plastic bottle with the left arm and shake.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Take the medium-sized green bottle using the left arm and give it a shake.", + "Use the left arm to grab the smooth green plastic bottle and shake properly.", + "With the left arm, pick the bottle with white printed label and shake properly.", + "Secure the medium green bottle, shake it, and place it down.", + "Pick up the bottle with narrow top and shake it well.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Lift the green bottle with indented base with the left arm and shake it.", + "Grab the bottle with white printed label using the left arm, then shake.", + "Hold and shake the the bottle with narrow top carefully.", + "Catch the medium-sized green bottle and shake it instantly.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Pick up the handheld green bottle and shake it.", + "Pick the bottle with white printed label up with the left arm and shake.", + "Shake the bottle with white printed label after grabbing it.", + "Use the left arm to lift and shake the smooth green bottle.", + "Grab and shake the green bottle with indented base using the left arm.", + "Lift the smooth green bottle with the left arm and shake.", + "Using the left arm, shake the bottle with rounded neck and then place it back.", + "Grasp the bottle with white printed label with the left arm and shake it.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Use the left arm to hold the bottle with white printed label and shake it.", + "Use the left arm to pick and shake the bottle with rounded neck.", + "Shake the handheld green bottle firmly after grabbing.", + "Grab the green bottle with indented base and give it a shake.", + "Use the left arm to grab the medium green bottle with capped neck and shake it.", + "Shake the handheld green bottle after holding it firmly.", + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Pick the medium-sized green bottle, shake it with the left arm.", + "Pick the bottle with ridges near base up using the left arm and shake it.", + "Lift up the green bottle with indented base using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Hold the medium-sized green bottle steady, then shake it.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Shake the smooth green plastic bottle using the left arm after grabbing.", + "Utilize the left arm to hold the medium green bottle with capped neck and shake it.", + "Hold the medium green bottle with capped neck and shake it properly." + ], + "unseen": [ + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode188.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode188.json new file mode 100644 index 0000000000000000000000000000000000000000..437519ec860fd2fb23c042c8f0db6e7d240dd25e --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode188.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the red-capped bottle, shake it with the right arm.", + "Shake the hand-sized soda bottle after grabbing it.", + "Lift the long thin bottle and shake it gently.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Catch the brown bottle with red label and shake it instantly.", + "Secure the long thin bottle and perform a shake.", + "Use the right arm to hold the bottle with ridges on bottom and shake it.", + "Lift the brown bottle with red label with the right arm and shake.", + "Shake the dark drink bottle with logo after lifting it.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Use the right arm to grab the bottle with white neck and red top and shake properly.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Utilize the right arm to hold the smooth bottle with red lid and shake it.", + "Pick up the red-capped bottle and shake it.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Lift the long thin bottle with the right arm and give it a shake.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Use the right arm to grab the red-capped bottle and shake it.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Take the smooth bottle with red lid using the right arm and give it a shake.", + "Pick the Coca-Cola bottle up with the right arm and shake.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Grab the bottle with white neck and red top with the right arm and shake.", + "Grab the plastic drink bottle carefully and shake.", + "Hold the Coca-Cola bottle with the right arm and shake lightly.", + "Grab the brown bottle with red label using the right arm, then shake.", + "Grasp the plastic drink bottle with the right arm and shake it.", + "Use the right arm to pick and shake the bottle with white neck and red top.", + "Shake the narrow-necked bottle after grabbing it.", + "Use the right arm to lift and shake the long thin bottle.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "With the right arm, pick the hand-sized soda bottle and shake properly.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Using the right arm, shake the hand-sized soda bottle and then place it back.", + "Shake the smooth bottle with red lid using the right arm after grabbing.", + "Lift up the bottle with white neck and red top using the right arm, then shake.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Grab the dark drink bottle with logo and give it a shake.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Lift the dark drink bottle with logo with the right arm and shake it.", + "Pick the plastic drink bottle up using the right arm and shake it.", + "Hold the brown bottle with red label, shake it briefly.", + "Grab the plastic drink bottle and shake it steadily.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Pick up the medium dark brown bottle and shake it well.", + "Grab and shake the red-capped bottle using the right arm.", + "Pick the dark drink bottle with logo, shake it with the right arm.", + "Shake the Coca-Cola bottle after grabbing it.", + "Lift the narrow-necked bottle and shake it gently.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Secure the Coca-Cola bottle and perform a shake.", + "Use the right arm to hold the brown bottle with red label and shake it.", + "Lift the Coca-Cola bottle with the right arm and shake.", + "Shake the plastic drink bottle after lifting it.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Use the right arm to grab the dark drink bottle with logo and shake properly.", + "Shake the red-capped bottle after grabbing it.", + "Utilize the right arm to hold the brown bottle with red label and shake it.", + "Pick up the bottle with white neck and red top and shake it.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Grip the plastic drink bottle using the right arm and shake.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Use the right arm to grab the bottle with ridges on bottom and shake it.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Take the plastic drink bottle using the right arm and give it a shake.", + "Pick the red-capped bottle up with the right arm and shake.", + "Hold the red-capped bottle and shake it properly.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Grab the bottle with white neck and red top with the right arm and shake.", + "Grab the dark drink bottle with logo carefully and shake.", + "Hold the plastic drink bottle with the right arm and shake lightly.", + "Grab the red-capped bottle using the right arm, then shake.", + "Grasp the bottle with ridges on bottom with the right arm and shake it.", + "Use the right arm to pick and shake the narrow-necked bottle.", + "Shake the narrow-necked bottle after grabbing it.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "With the right arm, pick the narrow-necked bottle and shake properly.", + "Grab the smooth bottle with red lid and move it to shake.", + "Using the right arm, shake the dark drink bottle with logo and then place it back.", + "Shake the red-capped bottle using the right arm after grabbing.", + "Lift up the long thin bottle using the right arm, then shake.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Grab the Coca-Cola bottle and give it a shake.", + "Shake the plastic drink bottle after holding it firmly.", + "Lift the dark drink bottle with logo with the right arm and shake it.", + "Pick the dark drink bottle with logo up using the right arm and shake it.", + "Hold the red-capped bottle, shake it briefly.", + "Grab the brown bottle with red label and shake it steadily.", + "Hold the medium dark brown bottle steady, then shake it.", + "Use the right arm to lift and shake the long thin bottle.", + "Pick up the long thin bottle and shake it well.", + "Grab and shake the brown bottle with red label using the right arm." + ], + "unseen": [ + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode189.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode189.json new file mode 100644 index 0000000000000000000000000000000000000000..f09a8d80fa8f2ae4317eee2f79e8a64de816c58c --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode189.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the bottle with ridges on bottom and shake it.", + "Grab and shake the long thin bottle using the left arm.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Grasp the Coca-Cola bottle with the left arm and shake it.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Hold the red-capped bottle steady, then shake it.", + "Grip the red-capped bottle using the left arm and shake.", + "Lift up the long thin bottle using the left arm, then shake.", + "Use the left arm to hold the smooth bottle with red lid and shake it.", + "Use the left arm to grab the long thin bottle and shake properly.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Catch the plastic drink bottle and shake it instantly.", + "Grab the smooth bottle with red lid and move it to shake.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Shake the medium dark brown bottle after lifting it.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Pick the long thin bottle and perform shaking motion.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Shake the brown bottle with red label after grabbing it.", + "Use the left arm to lift and shake the long thin bottle.", + "Hold and shake the the medium dark brown bottle carefully.", + "Lift the bottle with ridges on bottom with the left arm and give it a shake.", + "Lift the brown bottle with red label with the left arm and shake.", + "Pick the brown bottle with red label up using the left arm and shake it.", + "Lift the medium dark brown bottle and shake it gently.", + "Grab the hand-sized soda bottle and give it a shake.", + "Secure the brown bottle with red label and perform a shake.", + "Lift the smooth bottle with red lid with the left arm and shake it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Hold the brown bottle with red label and shake it properly.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "With the left arm, pick the long thin bottle and shake properly.", + "Use the left arm to grab the narrow-necked bottle and shake it.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Hold the plastic drink bottle with the left arm and shake lightly.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Shake the brown bottle with red label after grabbing it.", + "Hold the plastic drink bottle, shake it briefly.", + "Grab the dark drink bottle with logo carefully and shake.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Pick the hand-sized soda bottle up with the left arm and shake.", + "Pick up the bottle with white neck and red top and shake it.", + "Grab and shake the smooth bottle with red lid using the left arm.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Grasp the narrow-necked bottle with the left arm and shake it.", + "Grab the narrow-necked bottle with the left arm and shake.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Hold the red-capped bottle steady, then shake it.", + "Grip the long thin bottle using the left arm and shake.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Use the left arm to hold the dark drink bottle with logo and shake it.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Use the left arm to pick and shake the narrow-necked bottle.", + "Grab the dark drink bottle with logo using the left arm, then shake.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Pick the bottle with white neck and red top, shake it with the left arm.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Grab the bottle with white neck and red top and move it to shake.", + "Utilize the left arm to hold the hand-sized soda bottle and shake it.", + "Pick up the hand-sized soda bottle and shake it well.", + "Shake the long thin bottle after lifting it.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "Shake the brown bottle with red label after grabbing it.", + "Use the left arm to lift and shake the red-capped bottle.", + "Hold and shake the the long thin bottle carefully.", + "Lift the dark drink bottle with logo with the left arm and give it a shake.", + "Lift the dark drink bottle with logo with the left arm and shake.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Lift the red-capped bottle and shake it gently.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Secure the narrow-necked bottle and perform a shake.", + "Lift the smooth bottle with red lid with the left arm and shake it.", + "Shake the medium dark brown bottle after grabbing it.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Hold the narrow-necked bottle and shake it properly.", + "Use the left arm to lift and shake the brown bottle with red label.", + "With the left arm, pick the smooth bottle with red lid and shake properly.", + "Use the left arm to grab the hand-sized soda bottle and shake it.", + "Grab the long thin bottle and shake it steadily.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Shake the the long thin bottle properly after lifting.", + "Shake the dark drink bottle with logo after grabbing it.", + "Hold the medium dark brown bottle, shake it briefly.", + "Grab the red-capped bottle carefully and shake.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Shake the red-capped bottle after holding it firmly.", + "Pick the Coca-Cola bottle up with the left arm and shake." + ], + "unseen": [ + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode19.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..9129f3defb8e5af50bd9d3960fd0a15e685aefdc --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the plastic drink bottle using the left arm, then shake.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Use the left arm to grab the hand-sized soda bottle and shake properly.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Shake the the plastic drink bottle properly after lifting.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Lift up the brown bottle with red label using the left arm, then shake.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Shake the bottle with white neck and red top using the left arm after grabbing.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "With the left arm, pick the plastic drink bottle and shake properly.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Secure the hand-sized soda bottle and perform a shake.", + "Grip the dark drink bottle with logo using the left arm and shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Hold the hand-sized soda bottle and shake it properly.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Catch the red-capped bottle and shake it instantly.", + "Shake the bottle with white neck and red top after grabbing it.", + "Grab the red-capped bottle with the left arm and shake.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Hold the plastic drink bottle with the left arm and shake lightly.", + "Lift the red-capped bottle with the left arm and shake.", + "Shake the long thin bottle after holding it firmly.", + "Grab the narrow-necked bottle carefully and shake.", + "Pick up the narrow-necked bottle and shake it well.", + "Lift the dark drink bottle with logo and shake it gently.", + "Grab and shake the brown bottle with red label using the left arm.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Pick the bottle with ridges on bottom, shake it with the left arm.", + "Pick the plastic drink bottle up with the left arm and shake.", + "Shake the Coca-Cola bottle after lifting it.", + "Lift the narrow-necked bottle with the left arm and give it a shake.", + "Pick up the narrow-necked bottle and shake it.", + "Shake the long thin bottle after grabbing it.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "Use the left arm to hold the hand-sized soda bottle and shake it.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Utilize the left arm to hold the brown bottle with red label and shake it.", + "Grab the smooth bottle with red lid and move it to shake.", + "Use the left arm to pick and shake the hand-sized soda bottle.", + "Pick the long thin bottle up using the left arm and shake it.", + "Hold the red-capped bottle, shake it briefly.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Grab the Coca-Cola bottle using the left arm, then shake.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Shake the the long thin bottle properly after lifting.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Hold and shake the the long thin bottle carefully.", + "Lift up the dark drink bottle with logo using the left arm, then shake.", + "Pick the plastic drink bottle and perform shaking motion.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Secure the red-capped bottle, shake it, and place it down.", + "With the left arm, pick the red-capped bottle and shake properly.", + "Grab the long thin bottle and give it a shake.", + "Secure the smooth bottle with red lid and perform a shake.", + "Grip the plastic drink bottle using the left arm and shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Hold the smooth bottle with red lid and shake it properly.", + "Shake the brown bottle with red label firmly after grabbing.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "Hold the brown bottle with red label steady, then shake it.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Lift the bottle with white neck and red top with the left arm and shake it.", + "Hold the medium dark brown bottle with the left arm and shake lightly.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Grab the plastic drink bottle carefully and shake.", + "Pick up the smooth bottle with red lid and shake it well.", + "Lift the brown bottle with red label and shake it gently.", + "Grab and shake the brown bottle with red label using the left arm.", + "Use the left arm to grab the long thin bottle and shake it.", + "Pick the brown bottle with red label, shake it with the left arm.", + "Pick the medium dark brown bottle up with the left arm and shake.", + "Shake the long thin bottle after lifting it.", + "Lift the dark drink bottle with logo with the left arm and give it a shake.", + "Pick up the medium dark brown bottle and shake it.", + "Shake the narrow-necked bottle after grabbing it.", + "Using the left arm, shake the narrow-necked bottle and then place it back.", + "Use the left arm to hold the red-capped bottle and shake it.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Grab the red-capped bottle and move it to shake.", + "Use the left arm to pick and shake the long thin bottle.", + "Pick the red-capped bottle up using the left arm and shake it.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Grab the hand-sized soda bottle and shake it steadily." + ], + "unseen": [ + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode190.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode190.json new file mode 100644 index 0000000000000000000000000000000000000000..b62d0c9db2833bf059254dc2360af508970c5e59 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode190.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Hold and shake the the plastic drink bottle carefully.", + "Use the left arm to pick and shake the hand-sized soda bottle.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Lift the Coca-Cola bottle and shake it gently.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Shake the bottle with white neck and red top using the left arm after grabbing.", + "Pick the hand-sized soda bottle, shake it with the left arm.", + "Secure the red-capped bottle, shake it, and place it down.", + "Pick up the bottle with white neck and red top and shake it well.", + "Shake the brown bottle with red label after lifting it.", + "Shake the the long thin bottle properly after lifting.", + "Grab the narrow-necked bottle and move it to shake.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Grab the hand-sized soda bottle carefully and shake.", + "Grab the Coca-Cola bottle and give it a shake.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Shake the plastic drink bottle firmly after grabbing.", + "Pick up the dark drink bottle with logo and shake it.", + "Grab the brown bottle with red label and shake it steadily.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Use the left arm to lift and shake the red-capped bottle.", + "Shake the medium dark brown bottle after grabbing it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the left arm to grab the bottle with ridges on bottom and shake it.", + "Grasp the hand-sized soda bottle with the left arm and shake it.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Hold the dark drink bottle with logo and shake it properly.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Shake the smooth bottle with red lid after grabbing it.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Grab the narrow-necked bottle with the left arm and shake.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Grab the brown bottle with red label using the left arm, then shake.", + "With the left arm, pick the brown bottle with red label and shake properly.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Hold the medium dark brown bottle steady, then shake it.", + "Pick the hand-sized soda bottle up with the left arm and shake.", + "Hold the medium dark brown bottle, shake it briefly.", + "Pick the smooth bottle with red lid up using the left arm and shake it.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Take the Coca-Cola bottle using the left arm and give it a shake.", + "Lift the dark drink bottle with logo with the left arm and shake.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Hold and shake the the brown bottle with red label carefully.", + "Use the left arm to pick and shake the long thin bottle.", + "Grip the narrow-necked bottle using the left arm and shake.", + "Lift the narrow-necked bottle and shake it gently.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Shake the brown bottle with red label using the left arm after grabbing.", + "Pick the bottle with ridges on bottom, shake it with the left arm.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Pick up the red-capped bottle and shake it well.", + "Shake the dark drink bottle with logo after lifting it.", + "Shake the the medium dark brown bottle properly after lifting.", + "Grab the brown bottle with red label and move it to shake.", + "Catch the red-capped bottle and shake it instantly.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Grab the plastic drink bottle carefully and shake.", + "Grab the smooth bottle with red lid and give it a shake.", + "Lift the bottle with ridges on bottom with the left arm and give it a shake.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Secure the hand-sized soda bottle and perform a shake.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Pick up the Coca-Cola bottle and shake it.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Utilize the left arm to hold the bottle with white neck and red top and shake it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Shake the brown bottle with red label after grabbing it.", + "Shake the plastic drink bottle after grabbing it.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Shake the narrow-necked bottle after holding it firmly.", + "Hold the bottle with white neck and red top and shake it properly.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Lift the smooth bottle with red lid with the left arm and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Grab the brown bottle with red label with the left arm and shake.", + "Use the left arm to lift and shake the long thin bottle.", + "Grab the bottle with ridges on bottom using the left arm, then shake.", + "With the left arm, pick the hand-sized soda bottle and shake properly.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Hold the red-capped bottle steady, then shake it.", + "Pick the long thin bottle up with the left arm and shake.", + "Hold the narrow-necked bottle, shake it briefly.", + "Pick the long thin bottle up using the left arm and shake it.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Lift the medium dark brown bottle with the left arm and shake." + ], + "unseen": [ + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode191.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode191.json new file mode 100644 index 0000000000000000000000000000000000000000..6aaa4f2c5ec1904402b2ad00f096eb2e3efa9b41 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode191.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the red-capped bottle with the right arm and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the right arm to grab the bottle with white neck and red top and shake properly.", + "Secure the smooth bottle with red lid and perform a shake.", + "Use the right arm to pick and shake the brown bottle with red label.", + "Grab the red-capped bottle carefully and shake.", + "Grasp the dark drink bottle with logo with the right arm and shake it.", + "With the right arm, pick the brown bottle with red label and shake properly.", + "Pick up the hand-sized soda bottle and shake it.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Hold the medium dark brown bottle and shake it properly.", + "Lift the hand-sized soda bottle with the right arm and give it a shake.", + "Grab the Coca-Cola bottle and move it to shake.", + "Pick the red-capped bottle and perform shaking motion.", + "Pick the narrow-necked bottle up with the right arm and shake.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Take the red-capped bottle using the right arm and give it a shake.", + "Use the right arm to grab the narrow-necked bottle and shake it.", + "Lift the brown bottle with red label and shake it gently.", + "Use the right arm to hold the long thin bottle and shake it.", + "Grab the dark drink bottle with logo with the right arm and shake.", + "Using the right arm, shake the brown bottle with red label and then place it back.", + "Hold and shake the the brown bottle with red label carefully.", + "Grip the brown bottle with red label using the right arm and shake.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Pick the narrow-necked bottle, shake it with the right arm.", + "Pick up the bottle with white neck and red top and shake it well.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Grab the plastic drink bottle and shake it steadily.", + "Lift up the bottle with white neck and red top using the right arm, then shake.", + "Shake the red-capped bottle after lifting it.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Shake the bottle with white neck and red top after grabbing it.", + "Grab and shake the narrow-necked bottle using the right arm.", + "Shake the long thin bottle after holding it firmly.", + "Grab the bottle with ridges on bottom using the right arm, then shake.", + "Hold the medium dark brown bottle steady, then shake it.", + "Hold the bottle with ridges on bottom with the right arm and shake lightly.", + "Pick the red-capped bottle up using the right arm and shake it.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Lift the narrow-necked bottle with the right arm and shake.", + "Shake the red-capped bottle firmly after grabbing.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Utilize the right arm to hold the medium dark brown bottle and shake it.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Shake the hand-sized soda bottle using the right arm after grabbing.", + "Lift the narrow-necked bottle with the right arm and shake it.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Use the right arm to grab the dark drink bottle with logo and shake properly.", + "Secure the narrow-necked bottle and perform a shake.", + "Use the right arm to pick and shake the long thin bottle.", + "Grab the Coca-Cola bottle carefully and shake.", + "Grasp the Coca-Cola bottle with the right arm and shake it.", + "With the right arm, pick the hand-sized soda bottle and shake properly.", + "Pick up the smooth bottle with red lid and shake it.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Lift the long thin bottle and shake it thoroughly.", + "Hold the red-capped bottle and shake it properly.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Grab the Coca-Cola bottle and move it to shake.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Pick the dark drink bottle with logo up with the right arm and shake.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Take the long thin bottle using the right arm and give it a shake.", + "Use the right arm to grab the brown bottle with red label and shake it.", + "Lift the brown bottle with red label and shake it gently.", + "Use the right arm to hold the bottle with ridges on bottom and shake it.", + "Grab the hand-sized soda bottle with the right arm and shake.", + "Using the right arm, shake the Coca-Cola bottle and then place it back.", + "Hold and shake the the long thin bottle carefully.", + "Grip the red-capped bottle using the right arm and shake.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Pick the Coca-Cola bottle, shake it with the right arm.", + "Pick up the medium dark brown bottle and shake it well.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Shake the medium dark brown bottle after grabbing it.", + "Grab the red-capped bottle and shake it steadily.", + "Lift up the smooth bottle with red lid using the right arm, then shake.", + "Shake the long thin bottle after lifting it.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Grab the brown bottle with red label and give it a shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Grab and shake the hand-sized soda bottle using the right arm.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Grab the hand-sized soda bottle using the right arm, then shake.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Hold the Coca-Cola bottle with the right arm and shake lightly.", + "Pick the narrow-necked bottle up using the right arm and shake it.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Lift the bottle with ridges on bottom with the right arm and shake.", + "Shake the long thin bottle firmly after grabbing.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Utilize the right arm to hold the smooth bottle with red lid and shake it.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Shake the Coca-Cola bottle using the right arm after grabbing." + ], + "unseen": [ + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode192.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode192.json new file mode 100644 index 0000000000000000000000000000000000000000..08dd9546cb91760e56121990f89fbed8c7a86115 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode192.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the green bottle with indented base up using the right arm and shake it.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Shake the medium-sized green bottle using the right arm after grabbing.", + "Shake the handheld green bottle after holding it firmly.", + "Secure the bottle with narrow top and perform a shake.", + "Take the medium-sized green bottle using the right arm and give it a shake.", + "Pick up the bottle with rounded neck and shake it.", + "Lift up the bottle with white printed label using the right arm, then shake.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Lift the smooth green plastic bottle with the right arm and shake.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Hold the medium green bottle and shake it properly.", + "Hold the bottle with ridges near base with the right arm and shake lightly.", + "Shake the handheld green bottle after grabbing it.", + "Grab the bottle with white printed label with the right arm and shake.", + "Grab the plastic bottle carefully and shake.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Hold and shake the the bottle with white printed label carefully.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Utilize the right arm to hold the handheld green bottle and shake it.", + "Hold the medium green bottle, shake it briefly.", + "Pick the bottle with rounded neck, shake it with the right arm.", + "Shake the medium green bottle after lifting it.", + "Shake the the medium-sized green bottle properly after lifting.", + "Lift the bottle with white printed label and shake it gently.", + "Grab the medium-sized green bottle using the right arm, then shake.", + "Using the right arm, shake the handheld green bottle and then place it back.", + "Grab the bottle with rounded neck and give it a shake.", + "Pick the green bottle with indented base up with the right arm and shake.", + "Use the right arm to hold the smooth green plastic bottle and shake it.", + "Grab the bottle with white printed label and move it to shake.", + "Grab the bottle with white printed label and shake it steadily.", + "Lift the bottle with narrow top with the right arm and shake it.", + "Grab and shake the bottle with rounded neck using the right arm.", + "Pick the plastic bottle and perform shaking motion.", + "Shake the medium-sized green bottle after grabbing it.", + "With the right arm, pick the medium-sized green bottle and shake properly.", + "Grip the bottle with narrow top using the right arm and shake.", + "Use the right arm to grab the handheld green bottle and shake it.", + "Use the right arm to pick and shake the bottle with ridges near base.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Grasp the handheld green bottle with the right arm and shake it.", + "Secure the handheld green bottle, shake it, and place it down.", + "Use the right arm to lift and shake the medium green bottle.", + "Shake the green bottle with indented base after grabbing it.", + "Shake the bottle with narrow top firmly after grabbing.", + "Hold the medium-sized green bottle steady, then shake it.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Pick the medium green bottle with capped neck up using the right arm and shake it.", + "Lift the plastic bottle and shake it thoroughly.", + "Shake the plastic bottle using the right arm after grabbing.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Secure the bottle with narrow top and perform a shake.", + "Take the plastic bottle using the right arm and give it a shake.", + "Pick up the smooth green bottle and shake it.", + "Lift up the bottle with ridges near base using the right arm, then shake.", + "Lift the handheld green bottle with the right arm and give it a shake.", + "Lift the plastic bottle with the right arm and shake.", + "Use the right arm to grab the medium-sized green bottle and shake properly.", + "Hold the bottle with narrow top and shake it properly.", + "Hold the green bottle with indented base with the right arm and shake lightly.", + "Shake the bottle with narrow top after grabbing it.", + "Grab the smooth green bottle with the right arm and shake.", + "Grab the bottle with ridges near base carefully and shake.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Catch the green bottle with indented base and shake it instantly.", + "Hold and shake the the bottle with rounded neck carefully.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Utilize the right arm to hold the smooth green plastic bottle and shake it.", + "Hold the medium green bottle with capped neck, shake it briefly.", + "Pick the bottle with white printed label, shake it with the right arm.", + "Shake the bottle with rounded neck after lifting it.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Grab the medium green bottle with capped neck using the right arm, then shake.", + "Using the right arm, shake the green bottle with indented base and then place it back.", + "Grab the bottle with rounded neck and give it a shake.", + "Pick the medium green bottle with capped neck up with the right arm and shake.", + "Use the right arm to hold the medium green bottle and shake it.", + "Grab the green bottle with indented base and move it to shake.", + "Grab the smooth green bottle and shake it steadily.", + "Lift the bottle with white printed label with the right arm and shake it.", + "Grab and shake the medium green bottle with capped neck using the right arm.", + "Pick the smooth green bottle and perform shaking motion.", + "Shake the bottle with narrow top after grabbing it.", + "With the right arm, pick the bottle with narrow top and shake properly.", + "Grip the handheld green bottle using the right arm and shake.", + "Use the right arm to grab the handheld green bottle and shake it.", + "Use the right arm to pick and shake the bottle with ridges near base.", + "Pick up the medium-sized green bottle and shake it well.", + "Grasp the medium-sized green bottle with the right arm and shake it.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Shake the medium green bottle after grabbing it.", + "Shake the smooth green bottle firmly after grabbing.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Grab the medium-sized green bottle firmly, shake it, and put it down." + ], + "unseen": [ + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode193.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode193.json new file mode 100644 index 0000000000000000000000000000000000000000..4999681c49a4db52a14a8fc10b5f178d379c3bd5 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode193.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the bottle with white neck and red top and shake it well.", + "Hold the red-capped bottle steady, then shake it.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Take the bottle with white neck and red top using the left arm and give it a shake.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Lift the dark drink bottle with logo with the left arm and shake it.", + "Grab the narrow-necked bottle and shake it steadily.", + "Grasp the medium dark brown bottle with the left arm and shake it.", + "Lift the bottle with white neck and red top with the left arm and shake.", + "Pick up the bottle with ridges on bottom and shake it.", + "Grab the bottle with white neck and red top and give it a shake.", + "Hold and shake the the long thin bottle carefully.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Shake the narrow-necked bottle after grabbing it.", + "With the left arm, pick the dark drink bottle with logo and shake properly.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Lift up the bottle with white neck and red top using the left arm, then shake.", + "Use the left arm to hold the bottle with ridges on bottom and shake it.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Pick the long thin bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Use the left arm to pick and shake the plastic drink bottle.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Shake the red-capped bottle after lifting it.", + "Use the left arm to grab the brown bottle with red label and shake it.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Hold the medium dark brown bottle and shake it properly.", + "Hold the bottle with ridges on bottom with the left arm and shake lightly.", + "Lift the hand-sized soda bottle and shake it gently.", + "Grab the brown bottle with red label and move it to shake.", + "Catch the red-capped bottle and shake it instantly.", + "Shake the narrow-necked bottle using the left arm after grabbing.", + "Grab the red-capped bottle carefully and shake.", + "Shake the plastic drink bottle after grabbing it.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "Pick the medium dark brown bottle, shake it with the left arm.", + "Utilize the left arm to hold the dark drink bottle with logo and shake it.", + "Grip the plastic drink bottle using the left arm and shake.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Grab and shake the Coca-Cola bottle using the left arm.", + "Using the left arm, shake the bottle with ridges on bottom and then place it back.", + "Pick the hand-sized soda bottle up with the left arm and shake.", + "Secure the brown bottle with red label and perform a shake.", + "Shake the red-capped bottle after holding it firmly.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Grab the hand-sized soda bottle using the left arm, then shake.", + "Pick up the Coca-Cola bottle and shake it well.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Hold the long thin bottle, shake it briefly.", + "Take the brown bottle with red label using the left arm and give it a shake.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Grasp the long thin bottle with the left arm and shake it.", + "Lift the brown bottle with red label with the left arm and shake.", + "Pick up the bottle with white neck and red top and shake it.", + "Grab the smooth bottle with red lid and give it a shake.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Shake the hand-sized soda bottle after grabbing it.", + "With the left arm, pick the narrow-necked bottle and shake properly.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Lift up the medium dark brown bottle using the left arm, then shake.", + "Use the left arm to hold the brown bottle with red label and shake it.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Pick the smooth bottle with red lid up using the left arm and shake it.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Shake the hand-sized soda bottle after lifting it.", + "Use the left arm to grab the long thin bottle and shake it.", + "Use the left arm to grab the hand-sized soda bottle and shake properly.", + "Hold the medium dark brown bottle and shake it properly.", + "Hold the brown bottle with red label with the left arm and shake lightly.", + "Lift the dark drink bottle with logo and shake it gently.", + "Grab the smooth bottle with red lid and move it to shake.", + "Catch the red-capped bottle and shake it instantly.", + "Shake the long thin bottle using the left arm after grabbing.", + "Grab the dark drink bottle with logo carefully and shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Grab the hand-sized soda bottle with the left arm and shake.", + "Pick the long thin bottle, shake it with the left arm.", + "Utilize the left arm to hold the hand-sized soda bottle and shake it.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Pick the red-capped bottle up with the left arm and shake.", + "Secure the red-capped bottle and perform a shake.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Lift the narrow-necked bottle with the left arm and give it a shake.", + "Grab the smooth bottle with red lid using the left arm, then shake." + ], + "unseen": [ + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the bottle with red screw cap and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode194.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode194.json new file mode 100644 index 0000000000000000000000000000000000000000..866b89f473bede9156fb8c18d8c40ad58c830597 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode194.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the left arm, shake the bottle with ridges on bottom and then place it back.", + "Lift up the plastic drink bottle using the left arm, then shake.", + "Hold the red-capped bottle, shake it briefly.", + "Secure the long thin bottle, shake it, and place it down.", + "Lift the smooth bottle with red lid with the left arm and give it a shake.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Use the left arm to lift and shake the long thin bottle.", + "Shake the the red-capped bottle properly after lifting.", + "Lift the Coca-Cola bottle and shake it gently.", + "With the left arm, pick the red-capped bottle and shake properly.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Grab the Coca-Cola bottle using the left arm, then shake.", + "Take the dark drink bottle with logo using the left arm and give it a shake.", + "Shake the medium dark brown bottle after lifting it.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Grab the narrow-necked bottle carefully and shake.", + "Grab and shake the narrow-necked bottle using the left arm.", + "Grab the brown bottle with red label and shake it steadily.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Pick up the bottle with white neck and red top and shake it.", + "Grab the narrow-necked bottle and give it a shake.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Lift the red-capped bottle with the left arm and shake it.", + "Use the left arm to grab the medium dark brown bottle and shake properly.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Use the left arm to hold the bottle with white neck and red top and shake it.", + "Shake the long thin bottle using the left arm after grabbing.", + "Secure the plastic drink bottle and perform a shake.", + "Hold and shake the the red-capped bottle carefully.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Shake the medium dark brown bottle after grabbing it.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Hold the plastic drink bottle steady, then shake it.", + "Shake the brown bottle with red label after holding it firmly.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Grab the bottle with white neck and red top with the left arm and shake.", + "Pick the red-capped bottle up using the left arm and shake it.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Pick the medium dark brown bottle up with the left arm and shake.", + "Use the left arm to pick and shake the long thin bottle.", + "Use the left arm to grab the long thin bottle and shake it.", + "Shake the long thin bottle after grabbing it.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Grab the hand-sized soda bottle and move it to shake.", + "Utilize the left arm to hold the hand-sized soda bottle and shake it.", + "Grasp the bottle with white neck and red top with the left arm and shake it.", + "Hold the red-capped bottle and shake it properly.", + "Use the left arm to lift and shake the red-capped bottle.", + "Grip the narrow-necked bottle using the left arm and shake.", + "Lift the red-capped bottle with the left arm and shake.", + "Using the left arm, shake the smooth bottle with red lid and then place it back.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Hold the long thin bottle, shake it briefly.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Lift the plastic drink bottle with the left arm and give it a shake.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Shake the the brown bottle with red label properly after lifting.", + "Lift the dark drink bottle with logo and shake it gently.", + "With the left arm, pick the smooth bottle with red lid and shake properly.", + "Pick up the smooth bottle with red lid and shake it well.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Shake the long thin bottle after lifting it.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Grab and shake the medium dark brown bottle using the left arm.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Pick the bottle with white neck and red top, shake it with the left arm.", + "Pick up the red-capped bottle and shake it.", + "Grab the medium dark brown bottle and give it a shake.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Lift the long thin bottle with the left arm and shake it.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Use the left arm to hold the long thin bottle and shake it.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Secure the long thin bottle and perform a shake.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Catch the red-capped bottle and shake it instantly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Shake the plastic drink bottle firmly after grabbing.", + "Hold the plastic drink bottle steady, then shake it.", + "Shake the medium dark brown bottle after holding it firmly.", + "Shake the smooth bottle with red lid after grabbing it.", + "Grab the long thin bottle with the left arm and shake.", + "Pick the hand-sized soda bottle up using the left arm and shake it.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "Use the left arm to pick and shake the red-capped bottle.", + "Use the left arm to grab the narrow-necked bottle and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Grab the dark drink bottle with logo and move it to shake.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Grasp the Coca-Cola bottle with the left arm and shake it.", + "Hold the plastic drink bottle and shake it properly.", + "Use the left arm to lift and shake the red-capped bottle.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Lift the hand-sized soda bottle with the left arm and shake." + ], + "unseen": [ + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode195.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode195.json new file mode 100644 index 0000000000000000000000000000000000000000..84b93aa3ce89a53f3614f5ee0452a08d5e164455 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode195.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with narrow top and shake it steadily.", + "Hold and shake the the handheld green bottle carefully.", + "Shake the smooth green plastic bottle using the right arm after grabbing.", + "Shake the handheld green bottle after lifting it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Secure the handheld green bottle and perform a shake.", + "Shake the bottle with white printed label after grabbing it.", + "Hold the medium green bottle, shake it briefly.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Hold the handheld green bottle and shake it properly.", + "Grab and shake the bottle with narrow top using the right arm.", + "Hold the medium green bottle steady, then shake it.", + "Grasp the bottle with white printed label with the right arm and shake it.", + "Use the right arm to grab the medium green bottle with capped neck and shake it.", + "Lift the smooth green bottle with the right arm and shake.", + "Grab the green bottle with indented base and move it to shake.", + "Using the right arm, shake the medium-sized green bottle and then place it back.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Catch the smooth green bottle and shake it instantly.", + "Shake the bottle with white printed label after grabbing it.", + "Lift up the green bottle with indented base using the right arm, then shake.", + "Use the right arm to hold the bottle with ridges near base and shake it.", + "Lift the smooth green bottle with the right arm and shake it.", + "Pick the smooth green bottle, shake it with the right arm.", + "Lift the bottle with ridges near base with the right arm and give it a shake.", + "Grab the smooth green plastic bottle with the right arm and shake.", + "Grab the green bottle with indented base and give it a shake.", + "Hold the smooth green plastic bottle with the right arm and shake lightly.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Take the smooth green plastic bottle using the right arm and give it a shake.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Pick the green bottle with indented base up with the right arm and shake.", + "Shake the medium-sized green bottle after holding it firmly.", + "Pick up the medium-sized green bottle and shake it.", + "Use the right arm to pick and shake the medium-sized green bottle.", + "Use the right arm to lift and shake the plastic bottle.", + "Pick up the medium green bottle and shake it well.", + "Grip the smooth green plastic bottle using the right arm and shake.", + "Grab the plastic bottle carefully and shake.", + "With the right arm, pick the handheld green bottle and shake properly.", + "Utilize the right arm to hold the medium green bottle with capped neck and shake it.", + "Grab the smooth green bottle using the right arm, then shake.", + "Use the right arm to grab the handheld green bottle and shake properly.", + "Pick the plastic bottle up using the right arm and shake it.", + "Grab the green bottle with indented base and shake it steadily.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Shake the handheld green bottle using the right arm after grabbing.", + "Shake the plastic bottle after lifting it.", + "Shake the bottle with ridges near base after grabbing it.", + "Shake the bottle with white printed label firmly after grabbing.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Shake the handheld green bottle after grabbing it.", + "Hold the medium-sized green bottle, shake it briefly.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Hold the smooth green bottle and shake it properly.", + "Grab and shake the handheld green bottle using the right arm.", + "Hold the smooth green bottle steady, then shake it.", + "Grasp the green bottle with indented base with the right arm and shake it.", + "Use the right arm to grab the handheld green bottle and shake it.", + "Lift the bottle with rounded neck with the right arm and shake.", + "Grab the smooth green bottle and move it to shake.", + "Using the right arm, shake the bottle with rounded neck and then place it back.", + "Lift the bottle with white printed label and shake it gently.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Secure the smooth green bottle, shake it, and place it down.", + "Catch the bottle with narrow top and shake it instantly.", + "Shake the medium-sized green bottle after grabbing it.", + "Lift up the bottle with rounded neck using the right arm, then shake.", + "Use the right arm to hold the bottle with rounded neck and shake it.", + "Lift the smooth green plastic bottle with the right arm and shake it.", + "Pick the bottle with ridges near base, shake it with the right arm.", + "Lift the smooth green bottle with the right arm and give it a shake.", + "Grab the handheld green bottle with the right arm and shake.", + "Grab the plastic bottle and give it a shake.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Pick the medium green bottle and perform shaking motion.", + "Shake the the bottle with ridges near base properly after lifting.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Use the right arm to lift and shake the plastic bottle.", + "Take the green bottle with indented base using the right arm and give it a shake.", + "Lift the medium green bottle and shake it thoroughly.", + "Pick the medium-sized green bottle up with the right arm and shake.", + "Shake the bottle with white printed label after holding it firmly.", + "Pick up the green bottle with indented base and shake it.", + "Use the right arm to pick and shake the bottle with rounded neck.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Pick up the handheld green bottle and shake it well.", + "Grip the medium green bottle using the right arm and shake.", + "Grab the green bottle with indented base carefully and shake.", + "With the right arm, pick the smooth green bottle and shake properly.", + "Utilize the right arm to hold the green bottle with indented base and shake it.", + "Grab the medium green bottle with capped neck using the right arm, then shake.", + "Use the right arm to grab the bottle with white printed label and shake properly.", + "Pick the plastic bottle up using the right arm and shake it." + ], + "unseen": [ + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode196.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode196.json new file mode 100644 index 0000000000000000000000000000000000000000..010adc56b96392dd65c500c1c96ec393e26af37a --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode196.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the handheld green bottle, shake it with the left arm.", + "Shake the plastic bottle after grabbing it.", + "Grab and shake the handheld green bottle using the left arm.", + "Use the left arm to grab the medium-sized green bottle and shake properly.", + "Hold and shake the the bottle with ridges near base carefully.", + "Using the left arm, shake the handheld green bottle and then place it back.", + "Secure the plastic bottle, shake it, and place it down.", + "Lift up the medium green bottle with capped neck using the left arm, then shake.", + "Lift the bottle with white printed label with the left arm and shake it.", + "Pick the plastic bottle up with the left arm and shake.", + "Grab the smooth green plastic bottle carefully and shake.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "With the left arm, pick the smooth green bottle and shake properly.", + "Take the smooth green plastic bottle using the left arm and give it a shake.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Use the left arm to lift and shake the handheld green bottle.", + "Grip the handheld green bottle using the left arm and shake.", + "Lift the bottle with rounded neck with the left arm and give it a shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Hold the medium green bottle with the left arm and shake lightly.", + "Shake the green bottle with indented base using the left arm after grabbing.", + "Shake the bottle with narrow top after grabbing it.", + "Use the left arm to grab the green bottle with indented base and shake it.", + "Lift the bottle with narrow top with the left arm and shake.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Pick up the plastic bottle and shake it well.", + "Shake the the handheld green bottle properly after lifting.", + "Grab the bottle with ridges near base and shake it steadily.", + "Use the left arm to pick and shake the bottle with ridges near base.", + "Catch the medium green bottle and shake it instantly.", + "Hold the bottle with narrow top and shake it properly.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Grab the green bottle with indented base with the left arm and shake.", + "Shake the bottle with rounded neck after holding it firmly.", + "Grab the smooth green bottle using the left arm, then shake.", + "Pick the bottle with narrow top up using the left arm and shake it.", + "Secure the handheld green bottle and perform a shake.", + "Shake the bottle with white printed label firmly after grabbing.", + "Grasp the medium green bottle with the left arm and shake it.", + "Hold the bottle with white printed label steady, then shake it.", + "Lift the plastic bottle and shake it gently.", + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Shake the bottle with narrow top after grabbing it.", + "Hold the smooth green bottle, shake it briefly.", + "Pick up the smooth green plastic bottle and shake it.", + "Grab the smooth green bottle and move it to shake.", + "Use the left arm to hold the bottle with narrow top and shake it.", + "Shake the plastic bottle after lifting it.", + "Pick the bottle with white printed label and perform shaking motion.", + "Use the left arm to lift and shake the smooth green bottle.", + "Pick the green bottle with indented base, shake it with the left arm.", + "Shake the medium green bottle after grabbing it.", + "Grab and shake the bottle with narrow top using the left arm.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Hold and shake the the green bottle with indented base carefully.", + "Using the left arm, shake the smooth green plastic bottle and then place it back.", + "Secure the handheld green bottle, shake it, and place it down.", + "Lift up the bottle with narrow top using the left arm, then shake.", + "Lift the smooth green plastic bottle with the left arm and shake it.", + "Pick the medium green bottle up with the left arm and shake.", + "Grab the bottle with ridges near base carefully and shake.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "With the left arm, pick the medium green bottle and shake properly.", + "Take the green bottle with indented base using the left arm and give it a shake.", + "Utilize the left arm to hold the bottle with white printed label and shake it.", + "Use the left arm to lift and shake the handheld green bottle.", + "Grip the medium-sized green bottle using the left arm and shake.", + "Lift the handheld green bottle with the left arm and give it a shake.", + "Grab the plastic bottle and give it a shake.", + "Hold the bottle with ridges near base with the left arm and shake lightly.", + "Shake the bottle with ridges near base using the left arm after grabbing.", + "Shake the handheld green bottle after grabbing it.", + "Use the left arm to grab the handheld green bottle and shake it.", + "Lift the plastic bottle with the left arm and shake.", + "Use the left arm to lift and shake the smooth green bottle.", + "Pick up the medium green bottle and shake it well.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Grab the green bottle with indented base and shake it steadily.", + "Use the left arm to pick and shake the green bottle with indented base.", + "Catch the bottle with ridges near base and shake it instantly.", + "Hold the plastic bottle and shake it properly.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Grab the handheld green bottle with the left arm and shake.", + "Shake the handheld green bottle after holding it firmly.", + "Grab the medium-sized green bottle using the left arm, then shake.", + "Pick the bottle with rounded neck up using the left arm and shake it.", + "Secure the bottle with ridges near base and perform a shake.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Grasp the plastic bottle with the left arm and shake it.", + "Hold the bottle with rounded neck steady, then shake it.", + "Lift the green bottle with indented base and shake it gently.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Shake the bottle with narrow top after grabbing it.", + "Hold the plastic bottle, shake it briefly.", + "Pick up the handheld green bottle and shake it.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Use the left arm to hold the medium-sized green bottle and shake it.", + "Shake the smooth green bottle after lifting it.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Use the left arm to lift and shake the medium green bottle." + ], + "unseen": [ + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode197.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode197.json new file mode 100644 index 0000000000000000000000000000000000000000..d10ba5ed645df4649f033950d64d1318f052131d --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode197.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Hold the medium dark brown bottle steady, then shake it.", + "Pick the medium dark brown bottle, shake it with the left arm.", + "Secure the smooth bottle with red lid and perform a shake.", + "Shake the bottle with white neck and red top after grabbing it.", + "Shake the long thin bottle after lifting it.", + "Grab the plastic drink bottle and shake it steadily.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Take the hand-sized soda bottle using the left arm and give it a shake.", + "Use the left arm to grab the dark drink bottle with logo and shake properly.", + "Lift the medium dark brown bottle with the left arm and give it a shake.", + "Grasp the medium dark brown bottle with the left arm and shake it.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Hold the red-capped bottle with the left arm and shake lightly.", + "Lift the hand-sized soda bottle and shake it gently.", + "Hold and shake the the narrow-necked bottle carefully.", + "Hold the plastic drink bottle and shake it properly.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Grab the narrow-necked bottle and give it a shake.", + "Use the left arm to grab the hand-sized soda bottle and shake it.", + "Grab the brown bottle with red label and move it to shake.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Use the left arm to pick and shake the hand-sized soda bottle.", + "Grip the brown bottle with red label using the left arm and shake.", + "Shake the long thin bottle using the left arm after grabbing.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Pick up the hand-sized soda bottle and shake it well.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "With the left arm, pick the plastic drink bottle and shake properly.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Shake the medium dark brown bottle after grabbing it.", + "Lift up the hand-sized soda bottle using the left arm, then shake.", + "Lift the plastic drink bottle with the left arm and shake it.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Using the left arm, shake the bottle with ridges on bottom and then place it back.", + "Utilize the left arm to hold the bottle with white neck and red top and shake it.", + "Grab and shake the Coca-Cola bottle using the left arm.", + "Hold the medium dark brown bottle, shake it briefly.", + "Grab the narrow-necked bottle with the left arm and shake.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Shake the brown bottle with red label after grabbing it.", + "Pick the brown bottle with red label up using the left arm and shake it.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Grab the plastic drink bottle carefully and shake.", + "Pick up the red-capped bottle and shake it.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Pick the smooth bottle with red lid, shake it with the left arm.", + "Secure the brown bottle with red label and perform a shake.", + "Shake the bottle with white neck and red top after grabbing it.", + "Shake the plastic drink bottle after lifting it.", + "Grab the red-capped bottle and shake it steadily.", + "Shake the the medium dark brown bottle properly after lifting.", + "Take the plastic drink bottle using the left arm and give it a shake.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Grasp the smooth bottle with red lid with the left arm and shake it.", + "Grab the long thin bottle using the left arm, then shake.", + "Hold the red-capped bottle with the left arm and shake lightly.", + "Lift the smooth bottle with red lid and shake it gently.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Hold the hand-sized soda bottle and shake it properly.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Grab the red-capped bottle and give it a shake.", + "Use the left arm to grab the brown bottle with red label and shake it.", + "Grab the narrow-necked bottle and move it to shake.", + "Pick the bottle with white neck and red top up with the left arm and shake.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Use the left arm to pick and shake the hand-sized soda bottle.", + "Grip the red-capped bottle using the left arm and shake.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Use the left arm to lift and shake the long thin bottle.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Lift the Coca-Cola bottle with the left arm and shake.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Use the left arm to hold the brown bottle with red label and shake it.", + "Shake the narrow-necked bottle after grabbing it.", + "Lift up the narrow-necked bottle using the left arm, then shake.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Using the left arm, shake the bottle with white neck and red top and then place it back.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Grab and shake the medium dark brown bottle using the left arm.", + "Hold the red-capped bottle, shake it briefly.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "Pick the long thin bottle and perform shaking motion.", + "Shake the medium dark brown bottle after grabbing it.", + "Pick the smooth bottle with red lid up using the left arm and shake it.", + "Shake the brown bottle with red label after holding it firmly.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Grab the bottle with white neck and red top carefully and shake.", + "Pick up the brown bottle with red label and shake it." + ], + "unseen": [ + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode198.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode198.json new file mode 100644 index 0000000000000000000000000000000000000000..4e8de08a866d4a9b48b3f6cb568d73898330e498 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode198.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the hand-sized soda bottle after holding it firmly.", + "Grab the red-capped bottle using the left arm, then shake.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Grab the Coca-Cola bottle carefully and shake.", + "Pick the plastic drink bottle and perform shaking motion.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Secure the hand-sized soda bottle and perform a shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Use the left arm to lift and shake the long thin bottle.", + "Shake the bottle with ridges on bottom after lifting it.", + "Pick the plastic drink bottle up with the left arm and shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Lift up the Coca-Cola bottle using the left arm, then shake.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Use the left arm to grab the smooth bottle with red lid and shake it.", + "Shake the long thin bottle after grabbing it.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Grab the brown bottle with red label and move it to shake.", + "Pick the long thin bottle up using the left arm and shake it.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Lift the dark drink bottle with logo with the left arm and shake.", + "Grab the brown bottle with red label and give it a shake.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "With the left arm, pick the brown bottle with red label and shake properly.", + "Grip the Coca-Cola bottle using the left arm and shake.", + "Pick up the bottle with white neck and red top and shake it well.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Pick the red-capped bottle, shake it with the left arm.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Hold the plastic drink bottle and shake it properly.", + "Lift the brown bottle with red label and shake it gently.", + "Grab and shake the brown bottle with red label using the left arm.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Grab the narrow-necked bottle and shake it steadily.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Hold the narrow-necked bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Pick up the long thin bottle and shake it.", + "Use the left arm to grab the hand-sized soda bottle and shake properly.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Use the left arm to hold the bottle with ridges on bottom and shake it.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Grab the plastic drink bottle using the left arm, then shake.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Grasp the long thin bottle with the left arm and shake it.", + "Grab the dark drink bottle with logo carefully and shake.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Secure the medium dark brown bottle and perform a shake.", + "Shake the red-capped bottle after grabbing it.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Shake the long thin bottle after lifting it.", + "Pick the brown bottle with red label up with the left arm and shake.", + "Shake the red-capped bottle after grabbing it.", + "Lift up the dark drink bottle with logo using the left arm, then shake.", + "Use the left arm to pick and shake the red-capped bottle.", + "Use the left arm to grab the smooth bottle with red lid and shake it.", + "Shake the red-capped bottle after grabbing it.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Grab the bottle with white neck and red top and move it to shake.", + "Pick the dark drink bottle with logo up using the left arm and shake it.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Lift the bottle with white neck and red top with the left arm and shake.", + "Grab the narrow-necked bottle and give it a shake.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "With the left arm, pick the long thin bottle and shake properly.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Pick up the long thin bottle and shake it well.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Hold the smooth bottle with red lid and shake it properly.", + "Lift the Coca-Cola bottle and shake it gently.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "Hold the bottle with ridges on bottom with the left arm and shake lightly.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Pick up the hand-sized soda bottle and shake it.", + "Use the left arm to grab the hand-sized soda bottle and shake properly.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Use the left arm to hold the brown bottle with red label and shake it.", + "Shake the long thin bottle firmly after grabbing." + ], + "unseen": [ + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode199.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode199.json new file mode 100644 index 0000000000000000000000000000000000000000..f858e501b712eeff899ebdd24fdb09141df2a89f --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode199.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the smooth green plastic bottle, shake it briefly.", + "Use the left arm to lift and shake the plastic bottle.", + "Pick up the bottle with narrow top and shake it.", + "Pick the bottle with narrow top up with the left arm and shake.", + "Grab the plastic bottle using the left arm, then shake.", + "Using the left arm, shake the medium green bottle with capped neck and then place it back.", + "Pick the smooth green bottle up using the left arm and shake it.", + "With the left arm, pick the medium green bottle with capped neck and shake properly.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Grab the plastic bottle and shake it steadily.", + "Use the left arm to hold the medium green bottle with capped neck and shake it.", + "Pick up the medium green bottle and shake it well.", + "Lift the handheld green bottle with the left arm and give it a shake.", + "Shake the medium green bottle with capped neck after lifting it.", + "Lift up the green bottle with indented base using the left arm, then shake.", + "Shake the the medium green bottle properly after lifting.", + "Lift the bottle with white printed label with the left arm and shake.", + "Grab the smooth green bottle and give it a shake.", + "Shake the bottle with ridges near base using the left arm after grabbing.", + "Grasp the smooth green bottle with the left arm and shake it.", + "Lift the medium-sized green bottle with the left arm and shake it.", + "Shake the smooth green bottle after grabbing it.", + "Grip the medium green bottle using the left arm and shake.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Grab the medium green bottle and move it to shake.", + "Pick the green bottle with indented base, shake it with the left arm.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Grab the bottle with narrow top carefully and shake.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Shake the handheld green bottle after holding it firmly.", + "Grab and shake the bottle with narrow top using the left arm.", + "Grab the bottle with narrow top with the left arm and shake.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Hold the bottle with rounded neck and shake it properly.", + "Use the left arm to grab the medium-sized green bottle and shake it.", + "Shake the plastic bottle after grabbing it.", + "Hold the bottle with ridges near base steady, then shake it.", + "Use the left arm to pick and shake the smooth green bottle.", + "Hold and shake the the green bottle with indented base carefully.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Catch the bottle with narrow top and shake it instantly.", + "Shake the smooth green plastic bottle after grabbing it.", + "Take the smooth green bottle using the left arm and give it a shake.", + "Hold the green bottle with indented base with the left arm and shake lightly.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Secure the medium green bottle and perform a shake.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Hold the bottle with narrow top, shake it briefly.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Pick up the smooth green bottle and shake it.", + "Pick the bottle with ridges near base up with the left arm and shake.", + "Grab the smooth green bottle using the left arm, then shake.", + "Using the left arm, shake the smooth green plastic bottle and then place it back.", + "Pick the bottle with rounded neck up using the left arm and shake it.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Utilize the left arm to hold the smooth green plastic bottle and shake it.", + "Grab the bottle with ridges near base and shake it steadily.", + "Use the left arm to hold the medium green bottle with capped neck and shake it.", + "Pick up the medium green bottle and shake it well.", + "Lift the medium-sized green bottle with the left arm and give it a shake.", + "Shake the handheld green bottle after lifting it.", + "Lift up the plastic bottle using the left arm, then shake.", + "Shake the the medium green bottle properly after lifting.", + "Lift the green bottle with indented base with the left arm and shake.", + "Grab the plastic bottle and give it a shake.", + "Shake the bottle with white printed label using the left arm after grabbing.", + "Grasp the medium green bottle with the left arm and shake it.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Shake the bottle with narrow top after grabbing it.", + "Grip the medium green bottle using the left arm and shake.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Grab the plastic bottle and move it to shake.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Grab the plastic bottle carefully and shake.", + "Lift the handheld green bottle and shake it gently.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Shake the bottle with white printed label after holding it firmly.", + "Grab and shake the bottle with ridges near base using the left arm.", + "Grab the green bottle with indented base with the left arm and shake.", + "Pick the bottle with narrow top and perform shaking motion.", + "Hold the plastic bottle and shake it properly.", + "Use the left arm to grab the bottle with ridges near base and shake it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Hold the smooth green bottle steady, then shake it.", + "Use the left arm to pick and shake the medium green bottle with capped neck.", + "Hold and shake the the plastic bottle carefully.", + "Use the left arm to lift and shake the plastic bottle.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Secure the smooth green bottle, shake it, and place it down.", + "Catch the bottle with narrow top and shake it instantly.", + "Shake the smooth green plastic bottle after grabbing it.", + "Take the bottle with rounded neck using the left arm and give it a shake.", + "Hold the medium green bottle with capped neck with the left arm and shake lightly.", + "Use the left arm to grab the medium-sized green bottle and shake properly.", + "Secure the smooth green plastic bottle and perform a shake.", + "Grab the medium-sized green bottle firmly, shake it, and put it down." + ], + "unseen": [ + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode2.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..81e759863fea87ce0b8e88ee9f4c877c04f5dbf8 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the brown bottle with red label and perform shaking motion.", + "Hold the narrow-necked bottle with the left arm and shake lightly.", + "Shake the red-capped bottle firmly after grabbing.", + "Use the left arm to pick and shake the narrow-necked bottle.", + "Pick up the long thin bottle and shake it.", + "Lift the brown bottle with red label and shake it gently.", + "Shake the the brown bottle with red label properly after lifting.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Shake the medium dark brown bottle after lifting it.", + "Grip the medium dark brown bottle using the left arm and shake.", + "With the left arm, pick the brown bottle with red label and shake properly.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Utilize the left arm to hold the plastic drink bottle and shake it.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Grab the red-capped bottle and move it to shake.", + "Pick up the bottle with white neck and red top and shake it well.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Hold the narrow-necked bottle and shake it properly.", + "Grab the narrow-necked bottle with the left arm and shake.", + "Shake the bottle with white neck and red top using the left arm after grabbing.", + "Grab and shake the bottle with white neck and red top using the left arm.", + "Shake the plastic drink bottle after grabbing it.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Lift the bottle with white neck and red top with the left arm and shake.", + "Shake the brown bottle with red label after grabbing it.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Shake the long thin bottle after grabbing it.", + "Use the left arm to hold the brown bottle with red label and shake it.", + "Secure the medium dark brown bottle and perform a shake.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Grab the long thin bottle and give it a shake.", + "Lift the narrow-necked bottle with the left arm and give it a shake.", + "Use the left arm to grab the long thin bottle and shake it.", + "Lift the Coca-Cola bottle with the left arm and shake it.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Using the left arm, shake the narrow-necked bottle and then place it back.", + "Grab the narrow-necked bottle carefully and shake.", + "Pick the hand-sized soda bottle up using the left arm and shake it.", + "Hold the brown bottle with red label steady, then shake it.", + "Hold and shake the the plastic drink bottle carefully.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Hold the long thin bottle, shake it briefly.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Pick up the smooth bottle with red lid and shake it.", + "Lift the brown bottle with red label and shake it gently.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Shake the hand-sized soda bottle after lifting it.", + "Grip the narrow-necked bottle using the left arm and shake.", + "With the left arm, pick the narrow-necked bottle and shake properly.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Grab the brown bottle with red label and move it to shake.", + "Pick up the Coca-Cola bottle and shake it well.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Grab the long thin bottle with the left arm and shake.", + "Shake the red-capped bottle using the left arm after grabbing.", + "Grab and shake the bottle with white neck and red top using the left arm.", + "Shake the brown bottle with red label after grabbing it.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Grab the bottle with ridges on bottom using the left arm, then shake.", + "Lift the bottle with white neck and red top with the left arm and shake.", + "Shake the plastic drink bottle after grabbing it.", + "Pick the red-capped bottle, shake it with the left arm.", + "Shake the narrow-necked bottle after grabbing it.", + "Use the left arm to hold the long thin bottle and shake it.", + "Secure the brown bottle with red label and perform a shake.", + "Use the left arm to grab the dark drink bottle with logo and shake properly.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Grab the red-capped bottle and give it a shake.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Use the left arm to grab the long thin bottle and shake it.", + "Lift the dark drink bottle with logo with the left arm and shake it.", + "Lift up the bottle with white neck and red top using the left arm, then shake.", + "Using the left arm, shake the long thin bottle and then place it back.", + "Grab the Coca-Cola bottle carefully and shake.", + "Pick the smooth bottle with red lid up using the left arm and shake it.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Catch the narrow-necked bottle and shake it instantly.", + "Hold the brown bottle with red label, shake it briefly.", + "Pick the bottle with white neck and red top up with the left arm and shake." + ], + "unseen": [ + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode20.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..00ff94ab5a6a397ca78e4e55e52fd73026b4c9da --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift up the smooth green bottle using the left arm, then shake.", + "Use the left arm to hold the medium-sized green bottle and shake it.", + "Use the left arm to pick and shake the medium green bottle.", + "Secure the green bottle with indented base and perform a shake.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Lift the medium green bottle with the left arm and shake.", + "Pick the smooth green plastic bottle, shake it with the left arm.", + "Grab the smooth green plastic bottle and move it to shake.", + "Pick the bottle with ridges near base up using the left arm and shake it.", + "Pick up the bottle with white printed label and shake it.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Lift the handheld green bottle and shake it thoroughly.", + "Grasp the bottle with ridges near base with the left arm and shake it.", + "Hold and shake the the smooth green bottle carefully.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Use the left arm to grab the smooth green plastic bottle and shake it.", + "Hold the medium green bottle, shake it briefly.", + "Take the smooth green bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "With the left arm, pick the smooth green plastic bottle and shake properly.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "Hold the bottle with narrow top steady, then shake it.", + "Hold the medium green bottle with the left arm and shake lightly.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Grab the handheld green bottle and shake it steadily.", + "Shake the medium green bottle using the left arm after grabbing.", + "Shake the the smooth green bottle properly after lifting.", + "Shake the bottle with narrow top after grabbing it.", + "Shake the plastic bottle after grabbing it.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Using the left arm, shake the bottle with rounded neck and then place it back.", + "Hold the bottle with white printed label and shake it properly.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Shake the smooth green bottle after holding it firmly.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Catch the bottle with white printed label and shake it instantly.", + "Shake the bottle with rounded neck after lifting it.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Lift the smooth green bottle with the left arm and give it a shake.", + "Lift the bottle with white printed label with the left arm and shake it.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Grab and shake the green bottle with indented base using the left arm.", + "Grab the bottle with white printed label carefully and shake.", + "Pick up the bottle with ridges near base and shake it well.", + "Grab the bottle with narrow top and give it a shake.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Grab the bottle with narrow top with the left arm and shake.", + "Pick the bottle with narrow top up with the left arm and shake.", + "Lift up the plastic bottle using the left arm, then shake.", + "Use the left arm to hold the bottle with rounded neck and shake it.", + "Use the left arm to pick and shake the bottle with white printed label.", + "Secure the smooth green plastic bottle and perform a shake.", + "Grab the bottle with ridges near base using the left arm, then shake.", + "Lift the plastic bottle with the left arm and shake.", + "Pick the green bottle with indented base, shake it with the left arm.", + "Grab the medium-sized green bottle and move it to shake.", + "Pick the bottle with white printed label up using the left arm and shake it.", + "Pick up the smooth green bottle and shake it.", + "Lift the bottle with ridges near base and shake it gently.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Grasp the medium green bottle with the left arm and shake it.", + "Hold and shake the the plastic bottle carefully.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Shake the bottle with white printed label after grabbing it.", + "Use the left arm to grab the bottle with narrow top and shake it.", + "Hold the bottle with rounded neck, shake it briefly.", + "Take the handheld green bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the smooth green bottle.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Grip the smooth green bottle using the left arm and shake.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Hold the bottle with narrow top with the left arm and shake lightly.", + "Use the left arm to grab the medium green bottle and shake properly.", + "Grab the green bottle with indented base and shake it steadily.", + "Shake the bottle with ridges near base using the left arm after grabbing.", + "Shake the the plastic bottle properly after lifting.", + "Shake the green bottle with indented base after grabbing it.", + "Shake the plastic bottle after grabbing it.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Using the left arm, shake the bottle with white printed label and then place it back.", + "Hold the bottle with rounded neck and shake it properly.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Shake the bottle with ridges near base after holding it firmly.", + "Utilize the left arm to hold the medium green bottle with capped neck and shake it.", + "Catch the green bottle with indented base and shake it instantly.", + "Shake the bottle with ridges near base after lifting it.", + "Use the left arm to lift and shake the smooth green bottle.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Lift the bottle with ridges near base with the left arm and shake it.", + "Secure the handheld green bottle, shake it, and place it down.", + "Grab and shake the bottle with ridges near base using the left arm.", + "Grab the bottle with white printed label carefully and shake.", + "Pick up the bottle with narrow top and shake it well.", + "Grab the smooth green plastic bottle and give it a shake.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Grab the medium-sized green bottle with the left arm and shake.", + "Pick the smooth green plastic bottle up with the left arm and shake." + ], + "unseen": [ + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode200.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode200.json new file mode 100644 index 0000000000000000000000000000000000000000..d0e2f80f2f76bf426cc4eb73e53b52346018c16f --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode200.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the red-capped bottle after grabbing it.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Lift the medium dark brown bottle and shake it gently.", + "Lift the bottle with white neck and red top with the left arm and shake it.", + "Secure the medium dark brown bottle and perform a shake.", + "Lift up the hand-sized soda bottle using the left arm, then shake.", + "Shake the red-capped bottle after grabbing it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Shake the hand-sized soda bottle after grabbing it.", + "Utilize the left arm to hold the brown bottle with red label and shake it.", + "Using the left arm, shake the bottle with ridges on bottom and then place it back.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Pick the red-capped bottle, shake it with the left arm.", + "Grab the Coca-Cola bottle and give it a shake.", + "Shake the long thin bottle firmly after grabbing.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Catch the medium dark brown bottle and shake it instantly.", + "Hold the Coca-Cola bottle with the left arm and shake lightly.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Lift the bottle with white neck and red top with the left arm and shake.", + "Use the left arm to grab the red-capped bottle and shake properly.", + "Grab and shake the Coca-Cola bottle using the left arm.", + "Use the left arm to grab the narrow-necked bottle and shake it.", + "Pick the dark drink bottle with logo up with the left arm and shake.", + "Use the left arm to pick and shake the plastic drink bottle.", + "Pick up the narrow-necked bottle and shake it well.", + "Grab the bottle with white neck and red top and move it to shake.", + "Grab the long thin bottle carefully and shake.", + "Grab the plastic drink bottle with the left arm and shake.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Pick up the hand-sized soda bottle and shake it.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Shake the plastic drink bottle after lifting it.", + "Use the left arm to lift and shake the long thin bottle.", + "Hold and shake the the brown bottle with red label carefully.", + "With the left arm, pick the plastic drink bottle and shake properly.", + "Hold the bottle with white neck and red top and shake it properly.", + "Lift the red-capped bottle and shake it thoroughly.", + "Grab the medium dark brown bottle using the left arm, then shake.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Lift the narrow-necked bottle with the left arm and give it a shake.", + "Shake the the medium dark brown bottle properly after lifting.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Hold the medium dark brown bottle steady, then shake it.", + "Use the left arm to hold the Coca-Cola bottle and shake it.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Take the brown bottle with red label using the left arm and give it a shake.", + "Shake the brown bottle with red label after grabbing it.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Pick the plastic drink bottle and perform shaking motion.", + "Lift the smooth bottle with red lid and shake it gently.", + "Lift the narrow-necked bottle with the left arm and shake it.", + "Secure the dark drink bottle with logo and perform a shake.", + "Lift up the plastic drink bottle using the left arm, then shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Shake the hand-sized soda bottle after grabbing it.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Shake the plastic drink bottle after holding it firmly.", + "Pick the medium dark brown bottle, shake it with the left arm.", + "Grab the hand-sized soda bottle and give it a shake.", + "Shake the plastic drink bottle firmly after grabbing.", + "Pick the red-capped bottle up using the left arm and shake it.", + "Catch the narrow-necked bottle and shake it instantly.", + "Hold the bottle with ridges on bottom with the left arm and shake lightly.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Lift the red-capped bottle with the left arm and shake.", + "Use the left arm to grab the red-capped bottle and shake properly.", + "Grab and shake the smooth bottle with red lid using the left arm.", + "Use the left arm to grab the long thin bottle and shake it.", + "Pick the smooth bottle with red lid up with the left arm and shake.", + "Use the left arm to pick and shake the long thin bottle.", + "Pick up the brown bottle with red label and shake it well.", + "Grab the medium dark brown bottle and move it to shake.", + "Grab the long thin bottle carefully and shake.", + "Grab the medium dark brown bottle with the left arm and shake.", + "Grasp the hand-sized soda bottle with the left arm and shake it.", + "Pick up the dark drink bottle with logo and shake it.", + "Grab the brown bottle with red label and shake it steadily.", + "Shake the narrow-necked bottle after lifting it.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Hold and shake the the red-capped bottle carefully.", + "With the left arm, pick the dark drink bottle with logo and shake properly.", + "Hold the plastic drink bottle and shake it properly.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Grab the medium dark brown bottle using the left arm, then shake.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Lift the plastic drink bottle with the left arm and give it a shake.", + "Shake the the long thin bottle properly after lifting.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Use the left arm to hold the hand-sized soda bottle and shake it.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Take the plastic drink bottle using the left arm and give it a shake." + ], + "unseen": [ + "Use the left arm to pick the brown bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode201.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode201.json new file mode 100644 index 0000000000000000000000000000000000000000..c6258d170a26fd32cf97343b993ea615c680d1a9 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode201.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the red-capped bottle with the left arm and shake.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Use the left arm to hold the bottle with white neck and red top and shake it.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "With the left arm, pick the narrow-necked bottle and shake properly.", + "Secure the brown bottle with red label and perform a shake.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Pick the brown bottle with red label and perform shaking motion.", + "Grab the brown bottle with red label with the left arm and shake.", + "Pick the dark drink bottle with logo up using the left arm and shake it.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Hold the plastic drink bottle with the left arm and shake lightly.", + "Hold the long thin bottle and shake it properly.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Shake the long thin bottle using the left arm after grabbing.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Grasp the bottle with ridges on bottom with the left arm and shake it.", + "Lift the smooth bottle with red lid and shake it gently.", + "Grab the narrow-necked bottle carefully and shake.", + "Shake the the medium dark brown bottle properly after lifting.", + "Grab and shake the dark drink bottle with logo using the left arm.", + "Grab the brown bottle with red label and shake it steadily.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Grab the long thin bottle and move it to shake.", + "Lift the long thin bottle and shake it thoroughly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grab the bottle with ridges on bottom using the left arm, then shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Pick up the narrow-necked bottle and shake it well.", + "Pick up the bottle with ridges on bottom and shake it.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Use the left arm to grab the dark drink bottle with logo and shake properly.", + "Lift up the medium dark brown bottle using the left arm, then shake.", + "Take the red-capped bottle using the left arm and give it a shake.", + "Hold the long thin bottle, shake it briefly.", + "Shake the dark drink bottle with logo after lifting it.", + "Pick the dark drink bottle with logo up with the left arm and shake.", + "Pick the red-capped bottle, shake it with the left arm.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Use the left arm to grab the plastic drink bottle and shake it.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Using the left arm, shake the medium dark brown bottle and then place it back.", + "Lift the long thin bottle with the left arm and shake.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Use the left arm to hold the dark drink bottle with logo and shake it.", + "Hold the red-capped bottle steady, then shake it.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "With the left arm, pick the plastic drink bottle and shake properly.", + "Secure the red-capped bottle and perform a shake.", + "Grab the plastic drink bottle and give it a shake.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Grab the smooth bottle with red lid with the left arm and shake.", + "Pick the smooth bottle with red lid up using the left arm and shake it.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Hold the red-capped bottle with the left arm and shake lightly.", + "Hold the plastic drink bottle and shake it properly.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Shake the brown bottle with red label using the left arm after grabbing.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Grasp the medium dark brown bottle with the left arm and shake it.", + "Lift the medium dark brown bottle and shake it gently.", + "Grab the smooth bottle with red lid carefully and shake.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Grab and shake the long thin bottle using the left arm.", + "Grab the medium dark brown bottle and shake it steadily.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Lift the plastic drink bottle with the left arm and shake it.", + "Use the left arm to pick and shake the bottle with white neck and red top.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Grab the red-capped bottle and move it to shake.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Shake the plastic drink bottle after grabbing it.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Shake the red-capped bottle after grabbing it.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Pick up the Coca-Cola bottle and shake it well.", + "Pick up the long thin bottle and shake it.", + "Shake the red-capped bottle after grabbing it.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Lift up the long thin bottle using the left arm, then shake.", + "Take the Coca-Cola bottle using the left arm and give it a shake.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Shake the brown bottle with red label after lifting it.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Grip the dark drink bottle with logo using the left arm and shake.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Utilize the left arm to hold the long thin bottle and shake it.", + "Catch the plastic drink bottle and shake it instantly.", + "Using the left arm, shake the red-capped bottle and then place it back." + ], + "unseen": [ + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode202.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode202.json new file mode 100644 index 0000000000000000000000000000000000000000..b47251acb8316a36f6ecd79a1e44e80b05a6d3d7 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode202.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the medium green bottle with the right arm and shake lightly.", + "Pick the bottle with rounded neck up using the right arm and shake it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Lift the plastic bottle with the right arm and shake.", + "Use the right arm to lift and shake the plastic bottle.", + "With the right arm, pick the bottle with ridges near base and shake properly.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Grab the bottle with white printed label with the right arm and shake.", + "Pick up the bottle with white printed label and shake it.", + "Use the right arm to lift and shake the handheld green bottle.", + "Lift the medium-sized green bottle with the right arm and shake it.", + "Pick the medium-sized green bottle up with the right arm and shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Grab the smooth green bottle and shake it steadily.", + "Use the right arm to pick and shake the bottle with white printed label.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Grab and shake the bottle with white printed label using the right arm.", + "Hold the bottle with narrow top, shake it briefly.", + "Lift the handheld green bottle and shake it thoroughly.", + "Shake the green bottle with indented base after grabbing it.", + "Shake the green bottle with indented base after lifting it.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Secure the plastic bottle, shake it, and place it down.", + "Catch the handheld green bottle and shake it instantly.", + "Pick the green bottle with indented base and perform shaking motion.", + "Hold the bottle with white printed label and shake it properly.", + "Grab the green bottle with indented base carefully and shake.", + "Take the bottle with white printed label using the right arm and give it a shake.", + "Use the right arm to lift and shake the handheld green bottle.", + "Grasp the green bottle with indented base with the right arm and shake it.", + "Shake the the bottle with ridges near base properly after lifting.", + "Pick up the bottle with narrow top and shake it well.", + "Secure the handheld green bottle and perform a shake.", + "Lift up the smooth green bottle using the right arm, then shake.", + "Shake the medium green bottle with capped neck after holding it firmly.", + "Pick the bottle with white printed label, shake it with the right arm.", + "Hold the bottle with white printed label steady, then shake it.", + "Grab the bottle with white printed label and move it to shake.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the handheld green bottle using the right arm, then shake.", + "Use the right arm to hold the medium green bottle and shake it.", + "Grip the green bottle with indented base using the right arm and shake.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Utilize the right arm to hold the smooth green plastic bottle and shake it.", + "Using the right arm, shake the handheld green bottle and then place it back.", + "Lift the bottle with narrow top with the right arm and give it a shake.", + "Shake the bottle with ridges near base using the right arm after grabbing.", + "Use the right arm to grab the smooth green plastic bottle and shake it.", + "Use the right arm to grab the smooth green plastic bottle and shake properly.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Pick the medium green bottle with capped neck up using the right arm and shake it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Lift the plastic bottle with the right arm and shake.", + "Use the right arm to lift and shake the handheld green bottle.", + "With the right arm, pick the bottle with rounded neck and shake properly.", + "Shake the bottle with white printed label firmly after grabbing.", + "Grab the medium green bottle with the right arm and shake.", + "Pick up the bottle with white printed label and shake it.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Lift the smooth green bottle with the right arm and shake it.", + "Pick the smooth green bottle up with the right arm and shake.", + "Shake the smooth green bottle after grabbing it.", + "Grab the medium-sized green bottle and shake it steadily.", + "Use the right arm to pick and shake the smooth green bottle.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Grab and shake the bottle with ridges near base using the right arm.", + "Hold the bottle with white printed label, shake it briefly.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Shake the handheld green bottle after lifting it.", + "Hold and shake the the bottle with narrow top carefully.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Catch the bottle with ridges near base and shake it instantly.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Hold the plastic bottle and shake it properly.", + "Grab the bottle with rounded neck carefully and shake.", + "Take the medium-sized green bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Grasp the bottle with white printed label with the right arm and shake it.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Pick up the handheld green bottle and shake it well.", + "Secure the bottle with rounded neck and perform a shake.", + "Lift up the green bottle with indented base using the right arm, then shake.", + "Shake the bottle with white printed label after holding it firmly.", + "Pick the smooth green bottle, shake it with the right arm.", + "Hold the medium-sized green bottle steady, then shake it.", + "Grab the bottle with rounded neck and move it to shake.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Grab the handheld green bottle and give it a shake.", + "Grab the plastic bottle using the right arm, then shake.", + "Use the right arm to hold the smooth green bottle and shake it.", + "Grip the handheld green bottle using the right arm and shake.", + "Lift the green bottle with indented base and shake it gently.", + "Utilize the right arm to hold the bottle with white printed label and shake it.", + "Using the right arm, shake the bottle with white printed label and then place it back.", + "Lift the medium-sized green bottle with the right arm and give it a shake.", + "Shake the green bottle with indented base using the right arm after grabbing.", + "Use the right arm to grab the green bottle with indented base and shake it.", + "Use the right arm to grab the bottle with rounded neck and shake properly." + ], + "unseen": [ + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle with white label and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode203.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode203.json new file mode 100644 index 0000000000000000000000000000000000000000..9beba8f9caffcd7a415a4cd5b6c3d6e1aa05a79d --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode203.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the plastic bottle and give it a shake.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Hold the bottle with ridges near base with the right arm and shake lightly.", + "Using the right arm, shake the bottle with narrow top and then place it back.", + "Use the right arm to grab the medium green bottle and shake properly.", + "Grab the bottle with rounded neck and move it to shake.", + "Take the plastic bottle using the right arm and give it a shake.", + "Shake the bottle with ridges near base after holding it firmly.", + "Lift the medium-sized green bottle with the right arm and shake.", + "Lift the bottle with rounded neck and shake it gently.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grab the smooth green plastic bottle with the right arm and shake.", + "Shake the the bottle with rounded neck properly after lifting.", + "Secure the plastic bottle, shake it, and place it down.", + "Hold the medium green bottle steady, then shake it.", + "Hold the bottle with rounded neck and shake it properly.", + "Shake the green bottle with indented base after grabbing it.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "With the right arm, pick the bottle with white printed label and shake properly.", + "Lift up the medium green bottle using the right arm, then shake.", + "Shake the medium green bottle using the right arm after grabbing.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Pick the bottle with narrow top up with the right arm and shake.", + "Shake the bottle with white printed label after grabbing it.", + "Grab the medium green bottle carefully and shake.", + "Grab the medium green bottle and shake it steadily.", + "Grasp the smooth green plastic bottle with the right arm and shake it.", + "Lift the bottle with white printed label with the right arm and shake it.", + "Grip the medium green bottle using the right arm and shake.", + "Lift the medium green bottle with capped neck with the right arm and give it a shake.", + "Shake the smooth green bottle firmly after grabbing.", + "Pick the bottle with white printed label and perform shaking motion.", + "Grab and shake the bottle with narrow top using the right arm.", + "Shake the bottle with ridges near base after lifting it.", + "Utilize the right arm to hold the green bottle with indented base and shake it.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Grab the medium green bottle using the right arm, then shake.", + "Pick the smooth green bottle, shake it with the right arm.", + "Use the right arm to grab the smooth green bottle and shake it.", + "Secure the smooth green plastic bottle and perform a shake.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Hold the bottle with white printed label, shake it briefly.", + "Hold and shake the the medium green bottle carefully.", + "Use the right arm to pick and shake the plastic bottle.", + "Pick up the bottle with narrow top and shake it well.", + "Use the right arm to hold the bottle with narrow top and shake it.", + "Pick up the bottle with rounded neck and shake it.", + "Pick the medium-sized green bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Grab the medium-sized green bottle and give it a shake.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Hold the medium-sized green bottle with the right arm and shake lightly.", + "Using the right arm, shake the medium green bottle and then place it back.", + "Use the right arm to grab the medium-sized green bottle and shake properly.", + "Grab the smooth green plastic bottle and move it to shake.", + "Take the medium green bottle using the right arm and give it a shake.", + "Shake the bottle with narrow top after holding it firmly.", + "Lift the green bottle with indented base with the right arm and shake.", + "Lift the smooth green bottle and shake it gently.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grab the bottle with rounded neck with the right arm and shake.", + "Shake the the smooth green bottle properly after lifting.", + "Secure the plastic bottle, shake it, and place it down.", + "Hold the green bottle with indented base steady, then shake it.", + "Hold the medium-sized green bottle and shake it properly.", + "Shake the bottle with rounded neck after grabbing it.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "With the right arm, pick the handheld green bottle and shake properly.", + "Lift up the medium green bottle with capped neck using the right arm, then shake.", + "Shake the plastic bottle using the right arm after grabbing.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Pick the medium green bottle with capped neck up with the right arm and shake.", + "Shake the bottle with white printed label after grabbing it.", + "Grab the green bottle with indented base carefully and shake.", + "Grab the bottle with white printed label and shake it steadily.", + "Grasp the medium green bottle with the right arm and shake it.", + "Lift the medium-sized green bottle with the right arm and shake it.", + "Grip the handheld green bottle using the right arm and shake.", + "Lift the bottle with ridges near base with the right arm and give it a shake.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Pick the smooth green bottle and perform shaking motion.", + "Grab and shake the bottle with white printed label using the right arm.", + "Shake the bottle with white printed label after lifting it.", + "Utilize the right arm to hold the bottle with ridges near base and shake it.", + "Catch the medium green bottle and shake it instantly.", + "Grab the handheld green bottle using the right arm, then shake.", + "Pick the handheld green bottle, shake it with the right arm.", + "Use the right arm to grab the smooth green plastic bottle and shake it.", + "Secure the medium green bottle and perform a shake.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Hold the bottle with white printed label, shake it briefly.", + "Hold and shake the the plastic bottle carefully.", + "Use the right arm to pick and shake the plastic bottle.", + "Pick up the bottle with rounded neck and shake it well.", + "Use the right arm to hold the handheld green bottle and shake it.", + "Pick up the green bottle with indented base and shake it.", + "Pick the medium green bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the bottle with ridges near base." + ], + "unseen": [ + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode204.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode204.json new file mode 100644 index 0000000000000000000000000000000000000000..93c2cacf2be20c4f578419ec425cca981ce14c76 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode204.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the red-capped bottle firmly after grabbing.", + "Use the left arm to grab the hand-sized soda bottle and shake properly.", + "Grasp the Coca-Cola bottle with the left arm and shake it.", + "Shake the smooth bottle with red lid using the left arm after grabbing.", + "Secure the long thin bottle, shake it, and place it down.", + "Lift up the plastic drink bottle using the left arm, then shake.", + "Pick the long thin bottle, shake it with the left arm.", + "Grab and shake the Coca-Cola bottle using the left arm.", + "Utilize the left arm to hold the hand-sized soda bottle and shake it.", + "Use the left arm to pick and shake the plastic drink bottle.", + "Catch the brown bottle with red label and shake it instantly.", + "Shake the medium dark brown bottle after grabbing it.", + "Lift the bottle with white neck and red top with the left arm and shake it.", + "Grip the Coca-Cola bottle using the left arm and shake.", + "Shake the the brown bottle with red label properly after lifting.", + "Take the medium dark brown bottle using the left arm and give it a shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Shake the smooth bottle with red lid after lifting it.", + "Grab the plastic drink bottle using the left arm, then shake.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "With the left arm, pick the hand-sized soda bottle and shake properly.", + "Pick up the Coca-Cola bottle and shake it.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "Hold the long thin bottle, shake it briefly.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Lift the hand-sized soda bottle and shake it gently.", + "Shake the narrow-necked bottle after holding it firmly.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Grab the plastic drink bottle and give it a shake.", + "Secure the bottle with white neck and red top and perform a shake.", + "Pick the hand-sized soda bottle up with the left arm and shake.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Hold the brown bottle with red label steady, then shake it.", + "Hold the Coca-Cola bottle with the left arm and shake lightly.", + "Pick up the Coca-Cola bottle and shake it well.", + "Shake the plastic drink bottle after grabbing it.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Using the left arm, shake the bottle with ridges on bottom and then place it back.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Use the left arm to hold the long thin bottle and shake it.", + "Hold the smooth bottle with red lid and shake it properly.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Lift the brown bottle with red label with the left arm and shake.", + "Grab the medium dark brown bottle and move it to shake.", + "Use the left arm to grab the brown bottle with red label and shake it.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Grab the Coca-Cola bottle carefully and shake.", + "Shake the long thin bottle firmly after grabbing.", + "Use the left arm to grab the red-capped bottle and shake properly.", + "Grasp the bottle with white neck and red top with the left arm and shake it.", + "Shake the red-capped bottle using the left arm after grabbing.", + "Secure the red-capped bottle, shake it, and place it down.", + "Lift up the hand-sized soda bottle using the left arm, then shake.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Use the left arm to pick and shake the long thin bottle.", + "Catch the red-capped bottle and shake it instantly.", + "Shake the dark drink bottle with logo after grabbing it.", + "Lift the narrow-necked bottle with the left arm and shake it.", + "Grip the Coca-Cola bottle using the left arm and shake.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Shake the medium dark brown bottle after lifting it.", + "Grab the bottle with ridges on bottom using the left arm, then shake.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Grab the long thin bottle and shake it steadily.", + "With the left arm, pick the narrow-necked bottle and shake properly.", + "Pick up the brown bottle with red label and shake it.", + "Grab the plastic drink bottle with the left arm and shake.", + "Hold the plastic drink bottle, shake it briefly.", + "Pick the bottle with white neck and red top up using the left arm and shake it.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Lift the red-capped bottle and shake it gently.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Grab the red-capped bottle and give it a shake.", + "Secure the Coca-Cola bottle and perform a shake.", + "Pick the medium dark brown bottle up with the left arm and shake.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Shake the medium dark brown bottle after grabbing it.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Use the left arm to hold the hand-sized soda bottle and shake it.", + "Hold the medium dark brown bottle and shake it properly.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Lift the narrow-necked bottle with the left arm and shake.", + "Grab the red-capped bottle and move it to shake.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Lift the smooth bottle with red lid with the left arm and give it a shake.", + "Grab the smooth bottle with red lid carefully and shake." + ], + "unseen": [ + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode205.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode205.json new file mode 100644 index 0000000000000000000000000000000000000000..7f23bd3309795cc9d95f0159fafafaef372c5d37 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode205.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and shake the bottle with narrow top using the left arm.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the plastic bottle with the left arm and shake.", + "Lift the bottle with white printed label with the left arm and give it a shake.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Use the left arm to lift and shake the smooth green bottle.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Shake the smooth green plastic bottle after grabbing it.", + "Shake the plastic bottle after grabbing it.", + "With the left arm, pick the plastic bottle and shake properly.", + "Pick up the medium-sized green bottle and shake it well.", + "Shake the bottle with narrow top firmly after grabbing.", + "Hold the plastic bottle and shake it properly.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Pick the bottle with rounded neck, shake it with the left arm.", + "Secure the bottle with narrow top and perform a shake.", + "Pick the medium green bottle with capped neck up using the left arm and shake it.", + "Use the left arm to hold the bottle with ridges near base and shake it.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Hold the smooth green bottle, shake it briefly.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Shake the plastic bottle using the left arm after grabbing.", + "Catch the plastic bottle and shake it instantly.", + "Shake the smooth green plastic bottle after lifting it.", + "Lift the smooth green bottle with the left arm and shake.", + "Grab the smooth green plastic bottle and move it to shake.", + "Hold and shake the the plastic bottle carefully.", + "Hold the medium-sized green bottle with the left arm and shake lightly.", + "Lift the bottle with ridges near base with the left arm and shake it.", + "Use the left arm to grab the smooth green bottle and shake properly.", + "Utilize the left arm to hold the bottle with white printed label and shake it.", + "Using the left arm, shake the medium green bottle and then place it back.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Grab the plastic bottle and shake it steadily.", + "Grasp the plastic bottle with the left arm and shake it.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Take the smooth green bottle using the left arm and give it a shake.", + "Use the left arm to grab the medium green bottle and shake it.", + "Pick the bottle with narrow top and perform shaking motion.", + "Shake the the plastic bottle properly after lifting.", + "Grab the smooth green bottle carefully and shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Pick the plastic bottle up with the left arm and shake.", + "Lift up the bottle with rounded neck using the left arm, then shake.", + "Shake the handheld green bottle after holding it firmly.", + "Grip the plastic bottle using the left arm and shake.", + "Use the left arm to pick and shake the medium green bottle.", + "Hold the medium green bottle steady, then shake it.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Grab and shake the bottle with white printed label using the left arm.", + "Grab the plastic bottle and give it a shake.", + "Grab the green bottle with indented base with the left arm and shake.", + "Lift the medium-sized green bottle with the left arm and give it a shake.", + "Lift the handheld green bottle and shake it thoroughly.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Grab the smooth green bottle using the left arm, then shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Shake the medium green bottle after grabbing it.", + "With the left arm, pick the medium-sized green bottle and shake properly.", + "Pick up the bottle with rounded neck and shake it well.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Hold the handheld green bottle and shake it properly.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Pick the plastic bottle, shake it with the left arm.", + "Secure the green bottle with indented base and perform a shake.", + "Pick the bottle with ridges near base up using the left arm and shake it.", + "Use the left arm to hold the medium-sized green bottle and shake it.", + "Use the left arm to lift and shake the plastic bottle.", + "Hold the green bottle with indented base, shake it briefly.", + "Pick up the medium green bottle with capped neck and shake it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Shake the bottle with rounded neck using the left arm after grabbing.", + "Catch the medium green bottle and shake it instantly.", + "Shake the handheld green bottle after lifting it.", + "Lift the medium-sized green bottle with the left arm and shake.", + "Grab the bottle with rounded neck and move it to shake.", + "Hold and shake the the handheld green bottle carefully.", + "Hold the bottle with white printed label with the left arm and shake lightly.", + "Lift the green bottle with indented base with the left arm and shake it.", + "Use the left arm to grab the bottle with white printed label and shake properly.", + "Utilize the left arm to hold the smooth green bottle and shake it.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Lift the smooth green plastic bottle and shake it gently.", + "Grab the medium-sized green bottle and shake it steadily.", + "Grasp the plastic bottle with the left arm and shake it.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Take the medium green bottle using the left arm and give it a shake.", + "Use the left arm to grab the bottle with narrow top and shake it.", + "Pick the medium green bottle and perform shaking motion.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Grab the handheld green bottle carefully and shake.", + "Shake the smooth green bottle after grabbing it.", + "Pick the bottle with rounded neck up with the left arm and shake.", + "Lift up the bottle with rounded neck using the left arm, then shake.", + "Shake the bottle with ridges near base after holding it firmly.", + "Grip the bottle with white printed label using the left arm and shake.", + "Use the left arm to pick and shake the smooth green bottle.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Use the left arm to lift and shake the plastic bottle." + ], + "unseen": [ + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode206.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode206.json new file mode 100644 index 0000000000000000000000000000000000000000..4eb66252acbecf33259b90f0a8abdb7f2750cf94 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode206.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the red-capped bottle, shake it with the left arm.", + "Pick up the hand-sized soda bottle and shake it.", + "Take the red-capped bottle using the left arm and give it a shake.", + "Hold the Coca-Cola bottle and shake it properly.", + "Pick the brown bottle with red label up with the left arm and shake.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Secure the bottle with white neck and red top and perform a shake.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Shake the long thin bottle after grabbing it.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Pick the long thin bottle and perform shaking motion.", + "Pick up the red-capped bottle and shake it well.", + "Catch the long thin bottle and shake it instantly.", + "Grab the red-capped bottle and give it a shake.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "With the left arm, pick the dark drink bottle with logo and shake properly.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Lift the red-capped bottle with the left arm and shake it.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Grasp the bottle with ridges on bottom with the left arm and shake it.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Grab the bottle with white neck and red top carefully and shake.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Hold the medium dark brown bottle, shake it briefly.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Pick the plastic drink bottle up using the left arm and shake it.", + "Lift the bottle with white neck and red top and shake it gently.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Shake the smooth bottle with red lid after grabbing it.", + "Lift up the bottle with white neck and red top using the left arm, then shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the red-capped bottle after lifting it.", + "Hold and shake the the long thin bottle carefully.", + "Grab the plastic drink bottle and move it to shake.", + "Use the left arm to grab the brown bottle with red label and shake properly.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Grab the dark drink bottle with logo using the left arm, then shake.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Using the left arm, shake the narrow-necked bottle and then place it back.", + "Grab and shake the long thin bottle using the left arm.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Pick the red-capped bottle, shake it with the left arm.", + "Pick up the long thin bottle and shake it.", + "Take the hand-sized soda bottle using the left arm and give it a shake.", + "Hold the long thin bottle and shake it properly.", + "Pick the dark drink bottle with logo up with the left arm and shake.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Shake the plastic drink bottle firmly after grabbing.", + "Secure the Coca-Cola bottle and perform a shake.", + "Grab the plastic drink bottle with the left arm and shake.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Shake the narrow-necked bottle after holding it firmly.", + "Shake the dark drink bottle with logo after grabbing it.", + "Use the left arm to pick and shake the medium dark brown bottle.", + "Pick the brown bottle with red label and perform shaking motion.", + "Pick up the hand-sized soda bottle and shake it well.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Grab the smooth bottle with red lid and give it a shake.", + "Use the left arm to lift and shake the red-capped bottle.", + "With the left arm, pick the narrow-necked bottle and shake properly.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Grasp the medium dark brown bottle with the left arm and shake it.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Grab the long thin bottle carefully and shake.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Grip the red-capped bottle using the left arm and shake.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Lift the medium dark brown bottle and shake it gently.", + "Lift the red-capped bottle with the left arm and shake.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Shake the smooth bottle with red lid after grabbing it.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Shake the bottle with white neck and red top after lifting it.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Utilize the left arm to hold the brown bottle with red label and shake it.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Grab the smooth bottle with red lid using the left arm, then shake.", + "Grab the long thin bottle and shake it steadily.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "Grab and shake the bottle with white neck and red top using the left arm.", + "Use the left arm to hold the narrow-necked bottle and shake it." + ], + "unseen": [ + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode207.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode207.json new file mode 100644 index 0000000000000000000000000000000000000000..04b5cdfa9cef450b67c60af65ff8c21392fc7ac2 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode207.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the hand-sized soda bottle with the left arm and shake lightly.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Shake the the brown bottle with red label properly after lifting.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Lift the Coca-Cola bottle with the left arm and shake it.", + "Secure the long thin bottle, shake it, and place it down.", + "Shake the red-capped bottle after grabbing it.", + "Use the left arm to grab the Coca-Cola bottle and shake properly.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Pick up the dark drink bottle with logo and shake it.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Pick the bottle with white neck and red top, shake it with the left arm.", + "Use the left arm to grab the Coca-Cola bottle and shake it.", + "Pick up the narrow-necked bottle and shake it well.", + "Using the left arm, shake the smooth bottle with red lid and then place it back.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Grab the brown bottle with red label and shake it steadily.", + "Grip the red-capped bottle using the left arm and shake.", + "Hold the brown bottle with red label and shake it properly.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Grab and shake the brown bottle with red label using the left arm.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Use the left arm to hold the medium dark brown bottle and shake it.", + "Grab the plastic drink bottle with the left arm and shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Secure the brown bottle with red label and perform a shake.", + "Lift up the brown bottle with red label using the left arm, then shake.", + "Shake the long thin bottle after lifting it.", + "Pick the medium dark brown bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Shake the red-capped bottle firmly after grabbing.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Use the left arm to pick and shake the brown bottle with red label.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Shake the Coca-Cola bottle after grabbing it.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Catch the brown bottle with red label and shake it instantly.", + "Grab the red-capped bottle using the left arm, then shake.", + "Lift the brown bottle with red label and shake it gently.", + "With the left arm, pick the dark drink bottle with logo and shake properly.", + "Hold the long thin bottle, shake it briefly.", + "Grab the Coca-Cola bottle and move it to shake.", + "Grab the dark drink bottle with logo and give it a shake.", + "Grab the medium dark brown bottle carefully and shake.", + "Take the hand-sized soda bottle using the left arm and give it a shake.", + "Hold and shake the the narrow-necked bottle carefully.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Hold the long thin bottle steady, then shake it.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Shake the narrow-necked bottle after grabbing it.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Pick up the long thin bottle and shake it.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Pick the dark drink bottle with logo, shake it with the left arm.", + "Use the left arm to grab the Coca-Cola bottle and shake it.", + "Pick up the hand-sized soda bottle and shake it well.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Grasp the long thin bottle with the left arm and shake it.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Hold the smooth bottle with red lid and shake it properly.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Grab and shake the bottle with white neck and red top using the left arm.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Use the left arm to hold the bottle with white neck and red top and shake it.", + "Grab the long thin bottle with the left arm and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Secure the smooth bottle with red lid and perform a shake.", + "Lift up the medium dark brown bottle using the left arm, then shake.", + "Shake the dark drink bottle with logo after lifting it.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Use the left arm to pick and shake the long thin bottle.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Shake the narrow-necked bottle using the left arm after grabbing.", + "Shake the red-capped bottle after grabbing it.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Grab the hand-sized soda bottle using the left arm, then shake.", + "Lift the Coca-Cola bottle and shake it gently.", + "With the left arm, pick the red-capped bottle and shake properly.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Grab the long thin bottle and move it to shake.", + "Grab the narrow-necked bottle and give it a shake.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Take the medium dark brown bottle using the left arm and give it a shake.", + "Hold and shake the the narrow-necked bottle carefully." + ], + "unseen": [ + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode208.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode208.json new file mode 100644 index 0000000000000000000000000000000000000000..3c5bae91a51ed3370cec421a0812502df2f8ec73 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode208.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the brown bottle with red label.", + "Use the right arm to hold the dark drink bottle with logo and shake it.", + "Utilize the right arm to hold the long thin bottle and shake it.", + "Lift the medium dark brown bottle with the right arm and give it a shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Using the right arm, shake the medium dark brown bottle and then place it back.", + "Pick up the dark drink bottle with logo and shake it well.", + "Pick the long thin bottle up with the right arm and shake.", + "Use the right arm to pick and shake the plastic drink bottle.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Lift the narrow-necked bottle with the right arm and shake it.", + "Grab the brown bottle with red label using the right arm, then shake.", + "Pick the brown bottle with red label and perform shaking motion.", + "Secure the bottle with white neck and red top and perform a shake.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Grip the long thin bottle using the right arm and shake.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Hold the red-capped bottle with the right arm and shake lightly.", + "Grab the smooth bottle with red lid and move it to shake.", + "Pick the medium dark brown bottle, shake it with the right arm.", + "Shake the red-capped bottle after lifting it.", + "Lift up the red-capped bottle using the right arm, then shake.", + "Shake the brown bottle with red label after grabbing it.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Shake the medium dark brown bottle after holding it firmly.", + "Hold and shake the the medium dark brown bottle carefully.", + "Take the long thin bottle using the right arm and give it a shake.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Grab the plastic drink bottle and shake it steadily.", + "Grasp the bottle with white neck and red top with the right arm and shake it.", + "Shake the the narrow-necked bottle properly after lifting.", + "With the right arm, pick the smooth bottle with red lid and shake properly.", + "Pick the long thin bottle up using the right arm and shake it.", + "Use the right arm to grab the medium dark brown bottle and shake it.", + "Catch the medium dark brown bottle and shake it instantly.", + "Grab and shake the Coca-Cola bottle using the right arm.", + "Grab the red-capped bottle and give it a shake.", + "Pick up the medium dark brown bottle and shake it.", + "Shake the red-capped bottle after grabbing it.", + "Grab the long thin bottle carefully and shake.", + "Use the right arm to grab the plastic drink bottle and shake properly.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Grab the hand-sized soda bottle with the right arm and shake.", + "Lift the bottle with white neck and red top and shake it gently.", + "Hold the hand-sized soda bottle and shake it properly.", + "Shake the medium dark brown bottle using the right arm after grabbing.", + "Lift the hand-sized soda bottle with the right arm and shake.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Use the right arm to hold the bottle with ridges on bottom and shake it.", + "Utilize the right arm to hold the Coca-Cola bottle and shake it.", + "Lift the bottle with white neck and red top with the right arm and give it a shake.", + "Shake the long thin bottle after grabbing it.", + "Using the right arm, shake the narrow-necked bottle and then place it back.", + "Pick up the hand-sized soda bottle and shake it well.", + "Pick the bottle with ridges on bottom up with the right arm and shake.", + "Use the right arm to pick and shake the brown bottle with red label.", + "Hold the plastic drink bottle, shake it briefly.", + "Lift the dark drink bottle with logo with the right arm and shake it.", + "Grab the Coca-Cola bottle using the right arm, then shake.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Grip the bottle with ridges on bottom using the right arm and shake.", + "Shake the plastic drink bottle firmly after grabbing.", + "Hold the bottle with white neck and red top with the right arm and shake lightly.", + "Grab the long thin bottle and move it to shake.", + "Pick the plastic drink bottle, shake it with the right arm.", + "Shake the brown bottle with red label after lifting it.", + "Lift up the red-capped bottle using the right arm, then shake.", + "Shake the red-capped bottle after grabbing it.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Hold and shake the the long thin bottle carefully.", + "Take the medium dark brown bottle using the right arm and give it a shake.", + "Hold the long thin bottle steady, then shake it.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Grasp the medium dark brown bottle with the right arm and shake it.", + "Shake the the dark drink bottle with logo properly after lifting.", + "With the right arm, pick the Coca-Cola bottle and shake properly.", + "Pick the long thin bottle up using the right arm and shake it.", + "Use the right arm to grab the bottle with ridges on bottom and shake it.", + "Catch the brown bottle with red label and shake it instantly.", + "Grab and shake the dark drink bottle with logo using the right arm.", + "Grab the red-capped bottle and give it a shake.", + "Pick up the bottle with white neck and red top and shake it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Grab the plastic drink bottle carefully and shake.", + "Use the right arm to grab the dark drink bottle with logo and shake properly.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Grab the hand-sized soda bottle with the right arm and shake.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Hold the plastic drink bottle and shake it properly.", + "Shake the bottle with ridges on bottom using the right arm after grabbing.", + "Lift the long thin bottle with the right arm and shake.", + "Secure the long thin bottle, shake it, and place it down.", + "Grab the narrow-necked bottle firmly, shake it, and put it down." + ], + "unseen": [ + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode209.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode209.json new file mode 100644 index 0000000000000000000000000000000000000000..3d999a1c2f309d82369610f5c49847f99b3b8f88 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode209.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the medium dark brown bottle and shake it.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Grab the narrow-necked bottle with the left arm and shake.", + "Pick the brown bottle with red label up with the left arm and shake.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Lift up the red-capped bottle using the left arm, then shake.", + "Pick the long thin bottle up using the left arm and shake it.", + "Use the left arm to hold the long thin bottle and shake it.", + "Pick up the smooth bottle with red lid and shake it well.", + "Grip the brown bottle with red label using the left arm and shake.", + "Using the left arm, shake the red-capped bottle and then place it back.", + "Shake the brown bottle with red label after grabbing it.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Shake the brown bottle with red label after lifting it.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Lift the bottle with white neck and red top and shake it gently.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Hold the bottle with white neck and red top and shake it properly.", + "Grab the brown bottle with red label and give it a shake.", + "Lift the bottle with ridges on bottom with the left arm and shake it.", + "Hold and shake the the red-capped bottle carefully.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Use the left arm to grab the smooth bottle with red lid and shake it.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Secure the smooth bottle with red lid and perform a shake.", + "Grab and shake the dark drink bottle with logo using the left arm.", + "Grab the smooth bottle with red lid and move it to shake.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Shake the smooth bottle with red lid after grabbing it.", + "Utilize the left arm to hold the Coca-Cola bottle and shake it.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Shake the red-capped bottle after holding it firmly.", + "Grab the bottle with white neck and red top carefully and shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Grab the dark drink bottle with logo using the left arm, then shake.", + "Secure the long thin bottle, shake it, and place it down.", + "Use the left arm to grab the hand-sized soda bottle and shake properly.", + "Grab the plastic drink bottle and shake it steadily.", + "With the left arm, pick the narrow-necked bottle and shake properly.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Take the Coca-Cola bottle using the left arm and give it a shake.", + "Pick up the bottle with ridges on bottom and shake it.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Grab the brown bottle with red label with the left arm and shake.", + "Pick the red-capped bottle up with the left arm and shake.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Lift up the long thin bottle using the left arm, then shake.", + "Pick the red-capped bottle up using the left arm and shake it.", + "Use the left arm to hold the smooth bottle with red lid and shake it.", + "Pick up the smooth bottle with red lid and shake it well.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Using the left arm, shake the narrow-necked bottle and then place it back.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Shake the brown bottle with red label after lifting it.", + "Lift the long thin bottle with the left arm and give it a shake.", + "Lift the red-capped bottle and shake it gently.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Hold the bottle with white neck and red top and shake it properly.", + "Grab the hand-sized soda bottle and give it a shake.", + "Lift the narrow-necked bottle with the left arm and shake it.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Pick the brown bottle with red label, shake it with the left arm.", + "Use the left arm to grab the narrow-necked bottle and shake it.", + "Catch the red-capped bottle and shake it instantly.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Secure the plastic drink bottle and perform a shake.", + "Grab and shake the medium dark brown bottle using the left arm.", + "Grab the Coca-Cola bottle and move it to shake.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Shake the bottle with white neck and red top after grabbing it.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Shake the brown bottle with red label using the left arm after grabbing.", + "Shake the long thin bottle after holding it firmly.", + "Grab the smooth bottle with red lid carefully and shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Shake the brown bottle with red label firmly after grabbing.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Grab the bottle with white neck and red top using the left arm, then shake.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Use the left arm to grab the Coca-Cola bottle and shake properly.", + "Grab the dark drink bottle with logo and shake it steadily.", + "With the left arm, pick the long thin bottle and shake properly.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Grasp the Coca-Cola bottle with the left arm and shake it.", + "Take the bottle with ridges on bottom using the left arm and give it a shake." + ], + "unseen": [ + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode21.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..31c9c099d34ec6214a4de7173d1840838d0c7ce2 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the brown bottle with red label with the right arm and shake.", + "Grab the bottle with white neck and red top carefully and shake.", + "With the right arm, pick the narrow-necked bottle and shake properly.", + "Shake the plastic drink bottle after lifting it.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Shake the bottle with ridges on bottom using the right arm after grabbing.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Grip the Coca-Cola bottle using the right arm and shake.", + "Grab the hand-sized soda bottle and give it a shake.", + "Grab the bottle with white neck and red top and move it to shake.", + "Use the right arm to hold the brown bottle with red label and shake it.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Use the right arm to grab the narrow-necked bottle and shake it.", + "Pick the bottle with ridges on bottom, shake it with the right arm.", + "Take the red-capped bottle using the right arm and give it a shake.", + "Secure the Coca-Cola bottle and perform a shake.", + "Lift up the medium dark brown bottle using the right arm, then shake.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Hold the brown bottle with red label with the right arm and shake lightly.", + "Lift the medium dark brown bottle and shake it gently.", + "Hold the medium dark brown bottle steady, then shake it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Grab the long thin bottle using the right arm, then shake.", + "Using the right arm, shake the dark drink bottle with logo and then place it back.", + "Lift the hand-sized soda bottle with the right arm and shake.", + "Lift the brown bottle with red label with the right arm and give it a shake.", + "Lift the brown bottle with red label with the right arm and shake it.", + "Use the right arm to pick and shake the long thin bottle.", + "Grab and shake the plastic drink bottle using the right arm.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Grasp the dark drink bottle with logo with the right arm and shake it.", + "Pick the red-capped bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Secure the long thin bottle, shake it, and place it down.", + "Use the right arm to grab the plastic drink bottle and shake properly.", + "Hold the long thin bottle and shake it properly.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Shake the bottle with white neck and red top after grabbing it.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Pick up the Coca-Cola bottle and shake it well.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Pick the long thin bottle up with the right arm and shake.", + "Utilize the right arm to hold the smooth bottle with red lid and shake it.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Shake the medium dark brown bottle after grabbing it.", + "Pick up the plastic drink bottle and shake it.", + "Grab the long thin bottle with the right arm and shake.", + "Grab the red-capped bottle carefully and shake.", + "With the right arm, pick the bottle with ridges on bottom and shake properly.", + "Shake the bottle with white neck and red top after lifting it.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Shake the Coca-Cola bottle using the right arm after grabbing.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Grip the smooth bottle with red lid using the right arm and shake.", + "Grab the long thin bottle and give it a shake.", + "Grab the plastic drink bottle and move it to shake.", + "Use the right arm to hold the bottle with white neck and red top and shake it.", + "Pick the red-capped bottle and perform shaking motion.", + "Use the right arm to grab the bottle with white neck and red top and shake it.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Take the hand-sized soda bottle using the right arm and give it a shake.", + "Secure the brown bottle with red label and perform a shake.", + "Lift up the red-capped bottle using the right arm, then shake.", + "Use the right arm to lift and shake the long thin bottle.", + "Hold the dark drink bottle with logo with the right arm and shake lightly.", + "Lift the medium dark brown bottle and shake it gently.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Shake the red-capped bottle after grabbing it.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Grab the smooth bottle with red lid using the right arm, then shake.", + "Using the right arm, shake the narrow-necked bottle and then place it back.", + "Lift the smooth bottle with red lid with the right arm and shake.", + "Lift the red-capped bottle with the right arm and give it a shake.", + "Lift the dark drink bottle with logo with the right arm and shake it.", + "Use the right arm to pick and shake the Coca-Cola bottle.", + "Grab and shake the medium dark brown bottle using the right arm.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Grasp the long thin bottle with the right arm and shake it.", + "Pick the red-capped bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Shake the red-capped bottle firmly after grabbing.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Use the right arm to grab the long thin bottle and shake properly.", + "Hold the long thin bottle and shake it properly.", + "Lift the red-capped bottle and shake it thoroughly.", + "Shake the the plastic drink bottle properly after lifting.", + "Shake the medium dark brown bottle after grabbing it.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Pick up the smooth bottle with red lid and shake it well.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Pick the bottle with white neck and red top up with the right arm and shake.", + "Utilize the right arm to hold the long thin bottle and shake it.", + "Shake the red-capped bottle after holding it firmly.", + "Shake the bottle with white neck and red top after grabbing it.", + "Pick up the bottle with ridges on bottom and shake it." + ], + "unseen": [ + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode210.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode210.json new file mode 100644 index 0000000000000000000000000000000000000000..6cc94cc7c91d76c8c3e965fbe413b85a52d5925a --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode210.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the bottle with narrow top.", + "Hold the plastic bottle and shake it properly.", + "Pick the plastic bottle, shake it with the left arm.", + "Use the left arm to hold the medium green bottle with capped neck and shake it.", + "Shake the handheld green bottle using the left arm after grabbing.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Hold the handheld green bottle, shake it briefly.", + "Grab the medium green bottle and give it a shake.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Lift the smooth green plastic bottle and shake it gently.", + "Grip the bottle with rounded neck using the left arm and shake.", + "Lift up the bottle with rounded neck using the left arm, then shake.", + "Utilize the left arm to hold the bottle with ridges near base and shake it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Secure the medium-sized green bottle and perform a shake.", + "Use the left arm to pick and shake the bottle with ridges near base.", + "Shake the medium green bottle with capped neck after holding it firmly.", + "Pick up the bottle with ridges near base and shake it well.", + "Shake the medium green bottle after lifting it.", + "Grab the bottle with rounded neck carefully and shake.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Use the left arm to grab the medium green bottle and shake properly.", + "Grasp the medium green bottle with capped neck with the left arm and shake it.", + "Lift the smooth green bottle with the left arm and shake.", + "With the left arm, pick the bottle with white printed label and shake properly.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Use the left arm to lift and shake the smooth green bottle.", + "Lift the medium-sized green bottle with the left arm and give it a shake.", + "Catch the bottle with rounded neck and shake it instantly.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Pick the bottle with rounded neck up with the left arm and shake.", + "Grab the handheld green bottle with the left arm and shake.", + "Shake the handheld green bottle after grabbing it.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Shake the bottle with rounded neck after grabbing it.", + "Hold and shake the the bottle with narrow top carefully.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Grab the bottle with ridges near base and move it to shake.", + "Grab the bottle with ridges near base using the left arm, then shake.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Grab and shake the plastic bottle using the left arm.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Pick the medium-sized green bottle up using the left arm and shake it.", + "Pick up the medium-sized green bottle and shake it.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Use the left arm to grab the medium-sized green bottle and shake it.", + "Grab the medium green bottle and shake it steadily.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Hold the green bottle with indented base and shake it properly.", + "Pick the plastic bottle, shake it with the left arm.", + "Use the left arm to hold the bottle with narrow top and shake it.", + "Shake the bottle with rounded neck using the left arm after grabbing.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Shake the the medium green bottle properly after lifting.", + "Hold the bottle with rounded neck, shake it briefly.", + "Grab the smooth green plastic bottle and give it a shake.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Lift the medium green bottle and shake it gently.", + "Grip the medium green bottle using the left arm and shake.", + "Lift up the handheld green bottle using the left arm, then shake.", + "Utilize the left arm to hold the bottle with ridges near base and shake it.", + "Shake the bottle with rounded neck after grabbing it.", + "Secure the handheld green bottle and perform a shake.", + "Use the left arm to pick and shake the smooth green plastic bottle.", + "Shake the handheld green bottle after holding it firmly.", + "Pick up the bottle with white printed label and shake it well.", + "Shake the bottle with ridges near base after lifting it.", + "Grab the medium green bottle carefully and shake.", + "Pick the handheld green bottle and perform shaking motion.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Use the left arm to grab the bottle with narrow top and shake properly.", + "Grasp the bottle with white printed label with the left arm and shake it.", + "Lift the bottle with narrow top with the left arm and shake.", + "With the left arm, pick the medium-sized green bottle and shake properly.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Shake the bottle with narrow top firmly after grabbing.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Lift the handheld green bottle with the left arm and give it a shake.", + "Catch the bottle with ridges near base and shake it instantly.", + "Hold the bottle with rounded neck with the left arm and shake lightly.", + "Pick the bottle with ridges near base up with the left arm and shake.", + "Grab the bottle with rounded neck with the left arm and shake.", + "Shake the bottle with narrow top after grabbing it.", + "Hold the smooth green bottle steady, then shake it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Grab the plastic bottle using the left arm, then shake.", + "Take the bottle with ridges near base using the left arm and give it a shake.", + "Grab and shake the handheld green bottle using the left arm.", + "Using the left arm, shake the medium-sized green bottle and then place it back.", + "Pick the medium-sized green bottle up using the left arm and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Lift the plastic bottle with the left arm and shake it.", + "Use the left arm to grab the smooth green plastic bottle and shake it.", + "Grab the medium green bottle with capped neck and shake it steadily." + ], + "unseen": [ + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode211.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode211.json new file mode 100644 index 0000000000000000000000000000000000000000..633eda0128d95f3c6653d8bc3ad50afdb938bbbe --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode211.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the long thin bottle.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Catch the narrow-necked bottle and shake it instantly.", + "Grab and shake the bottle with ridges on bottom using the right arm.", + "Shake the brown bottle with red label after grabbing it.", + "With the right arm, pick the long thin bottle and shake properly.", + "Pick up the medium dark brown bottle and shake it.", + "Use the right arm to grab the medium dark brown bottle and shake it.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Pick the brown bottle with red label, shake it with the right arm.", + "Shake the bottle with white neck and red top after grabbing it.", + "Shake the the narrow-necked bottle properly after lifting.", + "Secure the plastic drink bottle and perform a shake.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Lift the bottle with white neck and red top with the right arm and shake.", + "Hold and shake the the brown bottle with red label carefully.", + "Use the right arm to hold the medium dark brown bottle and shake it.", + "Pick the narrow-necked bottle up with the right arm and shake.", + "Grab the smooth bottle with red lid using the right arm, then shake.", + "Pick the plastic drink bottle up using the right arm and shake it.", + "Take the hand-sized soda bottle using the right arm and give it a shake.", + "Shake the red-capped bottle firmly after grabbing.", + "Use the right arm to grab the narrow-necked bottle and shake properly.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Shake the hand-sized soda bottle using the right arm after grabbing.", + "Hold the smooth bottle with red lid with the right arm and shake lightly.", + "Lift the dark drink bottle with logo with the right arm and shake it.", + "Lift up the long thin bottle using the right arm, then shake.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Use the right arm to pick and shake the bottle with ridges on bottom.", + "Grab the dark drink bottle with logo with the right arm and shake.", + "Utilize the right arm to hold the dark drink bottle with logo and shake it.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Shake the red-capped bottle after lifting it.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Lift the smooth bottle with red lid with the right arm and give it a shake.", + "Using the right arm, shake the long thin bottle and then place it back.", + "Grab the medium dark brown bottle carefully and shake.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Lift the bottle with white neck and red top and shake it gently.", + "Grasp the hand-sized soda bottle with the right arm and shake it.", + "Shake the medium dark brown bottle after holding it firmly.", + "Grab the bottle with white neck and red top and move it to shake.", + "Pick up the bottle with white neck and red top and shake it well.", + "Secure the long thin bottle, shake it, and place it down.", + "Shake the dark drink bottle with logo after grabbing it.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Grab and shake the plastic drink bottle using the right arm.", + "Shake the narrow-necked bottle after grabbing it.", + "With the right arm, pick the Coca-Cola bottle and shake properly.", + "Pick up the smooth bottle with red lid and shake it.", + "Use the right arm to grab the bottle with ridges on bottom and shake it.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Pick the narrow-necked bottle, shake it with the right arm.", + "Shake the long thin bottle after grabbing it.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Secure the Coca-Cola bottle and perform a shake.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Lift the Coca-Cola bottle with the right arm and shake.", + "Hold and shake the the brown bottle with red label carefully.", + "Use the right arm to hold the bottle with ridges on bottom and shake it.", + "Pick the Coca-Cola bottle up with the right arm and shake.", + "Grab the narrow-necked bottle using the right arm, then shake.", + "Pick the narrow-necked bottle up using the right arm and shake it.", + "Take the bottle with ridges on bottom using the right arm and give it a shake.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Use the right arm to grab the Coca-Cola bottle and shake properly.", + "Grab the dark drink bottle with logo and give it a shake.", + "Shake the narrow-necked bottle using the right arm after grabbing.", + "Hold the bottle with white neck and red top with the right arm and shake lightly.", + "Lift the hand-sized soda bottle with the right arm and shake it.", + "Lift up the long thin bottle using the right arm, then shake.", + "Grip the Coca-Cola bottle using the right arm and shake.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Use the right arm to pick and shake the medium dark brown bottle.", + "Grab the long thin bottle with the right arm and shake.", + "Utilize the right arm to hold the red-capped bottle and shake it.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Shake the long thin bottle after lifting it.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Lift the bottle with ridges on bottom with the right arm and give it a shake.", + "Using the right arm, shake the medium dark brown bottle and then place it back.", + "Grab the plastic drink bottle carefully and shake.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Lift the smooth bottle with red lid and shake it gently.", + "Grasp the long thin bottle with the right arm and shake it.", + "Shake the brown bottle with red label after holding it firmly.", + "Grab the bottle with white neck and red top and move it to shake.", + "Pick up the hand-sized soda bottle and shake it well.", + "Secure the long thin bottle, shake it, and place it down.", + "Shake the bottle with ridges on bottom after grabbing it." + ], + "unseen": [ + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode212.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode212.json new file mode 100644 index 0000000000000000000000000000000000000000..41ea6bc0f7176979496cc70aa1e77466cf840dcd --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode212.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the bottle with white neck and red top and perform a shake.", + "Pick the red-capped bottle, shake it with the left arm.", + "Hold the hand-sized soda bottle with the left arm and shake lightly.", + "Grab the brown bottle with red label and give it a shake.", + "Utilize the left arm to hold the brown bottle with red label and shake it.", + "Hold the medium dark brown bottle steady, then shake it.", + "Grab the plastic drink bottle and move it to shake.", + "Grab the smooth bottle with red lid using the left arm, then shake.", + "Catch the medium dark brown bottle and shake it instantly.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Shake the long thin bottle after grabbing it.", + "Shake the plastic drink bottle after grabbing it.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Use the left arm to pick and shake the red-capped bottle.", + "Pick up the plastic drink bottle and shake it.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Hold the plastic drink bottle and shake it properly.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Use the left arm to lift and shake the long thin bottle.", + "Lift up the medium dark brown bottle using the left arm, then shake.", + "Lift the dark drink bottle with logo with the left arm and shake.", + "Lift the plastic drink bottle and shake it gently.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Hold and shake the the plastic drink bottle carefully.", + "Shake the bottle with ridges on bottom after lifting it.", + "Use the left arm to hold the bottle with white neck and red top and shake it.", + "Shake the red-capped bottle after holding it firmly.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Grab the medium dark brown bottle and shake it steadily.", + "Lift the plastic drink bottle with the left arm and give it a shake.", + "Use the left arm to grab the long thin bottle and shake properly.", + "Pick up the bottle with white neck and red top and shake it well.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Pick the hand-sized soda bottle up using the left arm and shake it.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Shake the brown bottle with red label firmly after grabbing.", + "Grab the red-capped bottle with the left arm and shake.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Grasp the Coca-Cola bottle with the left arm and shake it.", + "Use the left arm to grab the dark drink bottle with logo and shake it.", + "Pick the red-capped bottle up with the left arm and shake.", + "Grab the bottle with white neck and red top carefully and shake.", + "Secure the red-capped bottle, shake it, and place it down.", + "Lift the red-capped bottle with the left arm and shake it.", + "Shake the long thin bottle after grabbing it.", + "Secure the plastic drink bottle and perform a shake.", + "Pick the red-capped bottle, shake it with the left arm.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Grab the brown bottle with red label and give it a shake.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Hold the red-capped bottle steady, then shake it.", + "Grab the medium dark brown bottle and move it to shake.", + "Grab the bottle with white neck and red top using the left arm, then shake.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Shake the long thin bottle after grabbing it.", + "Shake the brown bottle with red label after grabbing it.", + "Shake the the narrow-necked bottle properly after lifting.", + "Use the left arm to pick and shake the medium dark brown bottle.", + "Pick up the hand-sized soda bottle and shake it.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Hold the hand-sized soda bottle and shake it properly.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the long thin bottle.", + "Lift up the long thin bottle using the left arm, then shake.", + "Lift the long thin bottle with the left arm and shake.", + "Lift the long thin bottle and shake it gently.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Shake the Coca-Cola bottle after lifting it.", + "Use the left arm to hold the narrow-necked bottle and shake it.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Take the long thin bottle using the left arm and give it a shake.", + "Grab the plastic drink bottle and shake it steadily.", + "Lift the bottle with ridges on bottom with the left arm and give it a shake.", + "Use the left arm to grab the long thin bottle and shake properly.", + "Pick up the red-capped bottle and shake it well.", + "Grab and shake the Coca-Cola bottle using the left arm.", + "Using the left arm, shake the bottle with white neck and red top and then place it back.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "With the left arm, pick the smooth bottle with red lid and shake properly.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Grab the medium dark brown bottle with the left arm and shake.", + "Grip the long thin bottle using the left arm and shake.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Use the left arm to grab the bottle with ridges on bottom and shake it.", + "Pick the medium dark brown bottle up with the left arm and shake.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Lift the plastic drink bottle with the left arm and shake it.", + "Shake the red-capped bottle after grabbing it." + ], + "unseen": [ + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode213.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode213.json new file mode 100644 index 0000000000000000000000000000000000000000..12b62637420801745956e18fa98d101c9ca294a3 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode213.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the left arm, pick the bottle with white printed label and shake properly.", + "Hold the medium-sized green bottle steady, then shake it.", + "Shake the smooth green bottle after grabbing it.", + "Pick up the plastic bottle and shake it well.", + "Grab the handheld green bottle carefully and shake.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Pick the bottle with narrow top and perform shaking motion.", + "Use the left arm to pick and shake the bottle with narrow top.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Use the left arm to lift and shake the handheld green bottle.", + "Shake the medium green bottle after lifting it.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Grab the smooth green bottle with the left arm and shake.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Shake the bottle with ridges near base after holding it firmly.", + "Use the left arm to grab the handheld green bottle and shake it.", + "Lift up the medium green bottle using the left arm, then shake.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Using the left arm, shake the bottle with narrow top and then place it back.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Lift the bottle with white printed label with the left arm and shake.", + "Grip the bottle with rounded neck using the left arm and shake.", + "Secure the smooth green bottle and perform a shake.", + "Pick up the smooth green plastic bottle and shake it.", + "Shake the medium green bottle with capped neck using the left arm after grabbing.", + "Pick the smooth green plastic bottle up with the left arm and shake.", + "Hold the medium green bottle and shake it properly.", + "Grab the green bottle with indented base and shake it steadily.", + "Lift the smooth green bottle and shake it thoroughly.", + "Hold and shake the the medium-sized green bottle carefully.", + "Pick the medium green bottle up using the left arm and shake it.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Grab the bottle with white printed label using the left arm, then shake.", + "Use the left arm to lift and shake the smooth green bottle.", + "Grasp the handheld green bottle with the left arm and shake it.", + "Hold the bottle with narrow top, shake it briefly.", + "Catch the bottle with rounded neck and shake it instantly.", + "Shake the medium-sized green bottle after grabbing it.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Hold the medium green bottle with the left arm and shake lightly.", + "Pick the smooth green plastic bottle, shake it with the left arm.", + "Lift the smooth green plastic bottle and shake it gently.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Lift the medium green bottle with the left arm and shake it.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Take the green bottle with indented base using the left arm and give it a shake.", + "Grab and shake the smooth green bottle using the left arm.", + "Shake the plastic bottle after grabbing it.", + "Lift the medium-sized green bottle with the left arm and give it a shake.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Shake the handheld green bottle after grabbing it.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Grab the medium green bottle carefully and shake.", + "Use the left arm to grab the green bottle with indented base and shake properly.", + "Pick the bottle with white printed label and perform shaking motion.", + "Use the left arm to pick and shake the bottle with ridges near base.", + "Use the left arm to hold the bottle with narrow top and shake it.", + "Use the left arm to lift and shake the medium green bottle.", + "Shake the smooth green bottle after lifting it.", + "Shake the the medium-sized green bottle properly after lifting.", + "Grab the bottle with white printed label with the left arm and shake.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Shake the medium-sized green bottle after holding it firmly.", + "Use the left arm to grab the bottle with narrow top and shake it.", + "Lift up the bottle with narrow top using the left arm, then shake.", + "Secure the plastic bottle, shake it, and place it down.", + "Using the left arm, shake the bottle with rounded neck and then place it back.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Lift the smooth green plastic bottle with the left arm and shake.", + "Grip the plastic bottle using the left arm and shake.", + "Secure the bottle with ridges near base and perform a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the bottle with rounded neck using the left arm after grabbing.", + "Pick the medium green bottle with capped neck up with the left arm and shake.", + "Hold the bottle with ridges near base and shake it properly.", + "Grab the medium green bottle and shake it steadily.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Hold and shake the the plastic bottle carefully.", + "Pick the medium green bottle up using the left arm and shake it.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Grab the smooth green bottle and give it a shake.", + "Grab the smooth green bottle using the left arm, then shake.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Grasp the plastic bottle with the left arm and shake it.", + "Hold the handheld green bottle, shake it briefly.", + "Catch the smooth green bottle and shake it instantly.", + "Shake the bottle with narrow top after grabbing it.", + "Grab the medium-sized green bottle and move it to shake.", + "Hold the bottle with white printed label with the left arm and shake lightly.", + "Pick the green bottle with indented base, shake it with the left arm.", + "Lift the bottle with white printed label and shake it gently.", + "Shake the bottle with narrow top firmly after grabbing.", + "Lift the bottle with rounded neck with the left arm and shake it.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Grab and shake the handheld green bottle using the left arm.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Lift the bottle with rounded neck with the left arm and give it a shake." + ], + "unseen": [ + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode214.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode214.json new file mode 100644 index 0000000000000000000000000000000000000000..19efd853b07d10106ca75f96126e3818ecf67978 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode214.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the plastic bottle, shake it with the left arm.", + "Hold the handheld green bottle, shake it briefly.", + "Pick the medium green bottle with capped neck up with the left arm and shake.", + "Lift the plastic bottle and shake it thoroughly.", + "Lift the bottle with ridges near base with the left arm and shake it.", + "Hold the smooth green plastic bottle and shake it properly.", + "Grip the bottle with narrow top using the left arm and shake.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Grab the bottle with ridges near base with the left arm and shake.", + "Grab the handheld green bottle using the left arm, then shake.", + "Hold and shake the the medium green bottle carefully.", + "Use the left arm to pick and shake the handheld green bottle.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grab the green bottle with indented base and move it to shake.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "With the left arm, pick the bottle with white printed label and shake properly.", + "Pick up the medium-sized green bottle and shake it.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Pick the green bottle with indented base and perform shaking motion.", + "Lift the medium-sized green bottle with the left arm and shake.", + "Take the bottle with ridges near base using the left arm and give it a shake.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Shake the bottle with rounded neck using the left arm after grabbing.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Grab the bottle with ridges near base carefully and shake.", + "Grab the bottle with rounded neck and shake it steadily.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Pick the plastic bottle up using the left arm and shake it.", + "Lift up the plastic bottle using the left arm, then shake.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Shake the plastic bottle after grabbing it.", + "Lift the bottle with ridges near base and shake it gently.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Secure the handheld green bottle and perform a shake.", + "Grasp the smooth green plastic bottle with the left arm and shake it.", + "Shake the bottle with ridges near base after holding it firmly.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Shake the bottle with rounded neck after grabbing it.", + "Use the left arm to lift and shake the handheld green bottle.", + "Lift the smooth green bottle with the left arm and give it a shake.", + "Use the left arm to grab the smooth green plastic bottle and shake it.", + "Use the left arm to grab the medium-sized green bottle and shake properly.", + "Hold the bottle with white printed label with the left arm and shake lightly.", + "Utilize the left arm to hold the bottle with ridges near base and shake it.", + "Hold the bottle with white printed label steady, then shake it.", + "Shake the medium green bottle after lifting it.", + "Using the left arm, shake the green bottle with indented base and then place it back.", + "Grab and shake the bottle with ridges near base using the left arm.", + "Pick the handheld green bottle, shake it with the left arm.", + "Hold the medium green bottle, shake it briefly.", + "Pick the handheld green bottle up with the left arm and shake.", + "Lift the smooth green bottle and shake it thoroughly.", + "Lift the handheld green bottle with the left arm and shake it.", + "Hold the plastic bottle and shake it properly.", + "Grip the medium green bottle with capped neck using the left arm and shake.", + "Shake the the bottle with white printed label properly after lifting.", + "Grab the plastic bottle with the left arm and shake.", + "Grab the medium green bottle using the left arm, then shake.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Shake the medium-sized green bottle after grabbing it.", + "Grab the plastic bottle and move it to shake.", + "Grab the green bottle with indented base and give it a shake.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "With the left arm, pick the medium green bottle and shake properly.", + "Pick up the medium green bottle with capped neck and shake it.", + "Use the left arm to lift and shake the smooth green bottle.", + "Pick the medium green bottle and perform shaking motion.", + "Lift the medium-sized green bottle with the left arm and shake.", + "Take the bottle with rounded neck using the left arm and give it a shake.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Shake the medium-sized green bottle using the left arm after grabbing.", + "Pick up the smooth green bottle and shake it well.", + "Grab the bottle with narrow top carefully and shake.", + "Grab the medium green bottle and shake it steadily.", + "Use the left arm to lift and shake the handheld green bottle.", + "Pick the bottle with rounded neck up using the left arm and shake it.", + "Lift up the smooth green plastic bottle using the left arm, then shake.", + "Catch the medium-sized green bottle and shake it instantly.", + "Shake the green bottle with indented base after grabbing it.", + "Lift the medium green bottle and shake it gently.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Shake the smooth green bottle firmly after grabbing.", + "Secure the medium-sized green bottle and perform a shake.", + "Grasp the bottle with ridges near base with the left arm and shake it.", + "Shake the medium green bottle after holding it firmly.", + "Use the left arm to hold the bottle with ridges near base and shake it.", + "Shake the medium-sized green bottle after grabbing it.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Use the left arm to grab the medium green bottle with capped neck and shake it.", + "Use the left arm to grab the bottle with white printed label and shake properly.", + "Hold the medium-sized green bottle with the left arm and shake lightly.", + "Utilize the left arm to hold the smooth green plastic bottle and shake it.", + "Hold the smooth green bottle steady, then shake it.", + "Shake the bottle with ridges near base after lifting it.", + "Using the left arm, shake the bottle with narrow top and then place it back.", + "Grab and shake the medium green bottle with capped neck using the left arm." + ], + "unseen": [ + "Grab the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode215.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode215.json new file mode 100644 index 0000000000000000000000000000000000000000..45ea920298fa446309e9ac353a08d759b1223190 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode215.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the medium green bottle with the left arm and shake it.", + "Shake the bottle with rounded neck after holding it firmly.", + "Shake the bottle with white printed label after grabbing it.", + "Grab the medium green bottle and move it to shake.", + "Pick up the medium green bottle and shake it.", + "Hold the medium-sized green bottle, shake it briefly.", + "Grab and shake the medium-sized green bottle using the left arm.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Hold the bottle with white printed label steady, then shake it.", + "Use the left arm to grab the handheld green bottle and shake properly.", + "With the left arm, pick the medium-sized green bottle and shake properly.", + "Pick the bottle with narrow top, shake it with the left arm.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Pick the medium green bottle with capped neck up using the left arm and shake it.", + "Lift the bottle with narrow top and shake it gently.", + "Grab the medium green bottle carefully and shake.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Shake the smooth green bottle after lifting it.", + "Grab the smooth green plastic bottle using the left arm, then shake.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Lift up the medium-sized green bottle using the left arm, then shake.", + "Grab the green bottle with indented base and give it a shake.", + "Take the smooth green bottle using the left arm and give it a shake.", + "Grip the medium green bottle with capped neck using the left arm and shake.", + "Utilize the left arm to hold the medium green bottle with capped neck and shake it.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Use the left arm to pick and shake the handheld green bottle.", + "Pick the green bottle with indented base and perform shaking motion.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Pick up the medium green bottle and shake it well.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Hold the medium-sized green bottle with the left arm and shake lightly.", + "Using the left arm, shake the bottle with white printed label and then place it back.", + "Grab the smooth green plastic bottle with the left arm and shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the medium green bottle using the left arm after grabbing.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Hold and shake the the green bottle with indented base carefully.", + "Catch the bottle with rounded neck and shake it instantly.", + "Secure the bottle with white printed label and perform a shake.", + "Lift the medium green bottle with the left arm and give it a shake.", + "Pick the green bottle with indented base up with the left arm and shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Use the left arm to grab the medium green bottle and shake it.", + "Shake the smooth green bottle after grabbing it.", + "Lift the green bottle with indented base with the left arm and shake.", + "Use the left arm to hold the bottle with white printed label and shake it.", + "Shake the the plastic bottle properly after lifting.", + "Grab the smooth green bottle and shake it steadily.", + "Grasp the medium-sized green bottle with the left arm and shake it.", + "Shake the green bottle with indented base after holding it firmly.", + "Shake the handheld green bottle after grabbing it.", + "Grab the handheld green bottle and move it to shake.", + "Pick up the smooth green plastic bottle and shake it.", + "Hold the bottle with narrow top, shake it briefly.", + "Grab and shake the medium green bottle using the left arm.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Use the left arm to grab the handheld green bottle and shake properly.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Pick the medium green bottle up using the left arm and shake it.", + "Lift the bottle with ridges near base and shake it gently.", + "Grab the plastic bottle carefully and shake.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Shake the medium green bottle with capped neck after lifting it.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Lift the plastic bottle with the left arm and shake it.", + "Lift up the bottle with narrow top using the left arm, then shake.", + "Grab the plastic bottle and give it a shake.", + "Take the medium green bottle using the left arm and give it a shake.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "Utilize the left arm to hold the smooth green bottle and shake it.", + "Hold the bottle with white printed label and shake it properly.", + "Use the left arm to pick and shake the smooth green plastic bottle.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Use the left arm to lift and shake the medium green bottle.", + "Pick up the bottle with narrow top and shake it well.", + "Secure the smooth green bottle, shake it, and place it down.", + "Hold the bottle with rounded neck with the left arm and shake lightly.", + "Using the left arm, shake the handheld green bottle and then place it back.", + "Grab the plastic bottle with the left arm and shake.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Shake the medium green bottle using the left arm after grabbing.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Catch the medium-sized green bottle and shake it instantly.", + "Secure the bottle with ridges near base and perform a shake.", + "Lift the smooth green plastic bottle with the left arm and give it a shake.", + "Pick the medium-sized green bottle up with the left arm and shake.", + "Shake the bottle with ridges near base after grabbing it.", + "Use the left arm to grab the medium green bottle and shake it.", + "Shake the bottle with white printed label after grabbing it.", + "Lift the medium green bottle with the left arm and shake.", + "Use the left arm to hold the medium green bottle and shake it.", + "Shake the the green bottle with indented base properly after lifting.", + "Grab the bottle with narrow top and shake it steadily." + ], + "unseen": [ + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode216.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode216.json new file mode 100644 index 0000000000000000000000000000000000000000..4ea157155902d3c100885a919945d9e08229eab4 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode216.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the dark drink bottle with logo and perform a shake.", + "Grab the Coca-Cola bottle and give it a shake.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Grab the brown bottle with red label and move it to shake.", + "Lift the red-capped bottle and shake it gently.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Hold and shake the the long thin bottle carefully.", + "Hold the brown bottle with red label steady, then shake it.", + "Lift the narrow-necked bottle with the right arm and shake it.", + "Grasp the brown bottle with red label with the right arm and shake it.", + "Hold the red-capped bottle, shake it briefly.", + "Use the right arm to lift and shake the red-capped bottle.", + "Grab the long thin bottle with the right arm and shake.", + "Using the right arm, shake the dark drink bottle with logo and then place it back.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Take the bottle with white neck and red top using the right arm and give it a shake.", + "Shake the the narrow-necked bottle properly after lifting.", + "Grab the dark drink bottle with logo using the right arm, then shake.", + "Use the right arm to grab the smooth bottle with red lid and shake it.", + "Use the right arm to hold the medium dark brown bottle and shake it.", + "Pick the red-capped bottle up with the right arm and shake.", + "Shake the Coca-Cola bottle using the right arm after grabbing.", + "Grab and shake the bottle with white neck and red top using the right arm.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Pick the narrow-necked bottle up using the right arm and shake it.", + "Pick up the red-capped bottle and shake it well.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Shake the narrow-necked bottle after holding it firmly.", + "Grab the narrow-necked bottle and shake it steadily.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Shake the medium dark brown bottle after grabbing it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Use the right arm to grab the plastic drink bottle and shake properly.", + "Grip the dark drink bottle with logo using the right arm and shake.", + "Grab the medium dark brown bottle carefully and shake.", + "Shake the brown bottle with red label after lifting it.", + "Hold the narrow-necked bottle with the right arm and shake lightly.", + "Use the right arm to pick and shake the red-capped bottle.", + "With the right arm, pick the dark drink bottle with logo and shake properly.", + "Pick up the Coca-Cola bottle and shake it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Lift the bottle with white neck and red top with the right arm and shake.", + "Lift up the brown bottle with red label using the right arm, then shake.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Hold the Coca-Cola bottle and shake it properly.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Secure the plastic drink bottle and perform a shake.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Lift the hand-sized soda bottle with the right arm and give it a shake.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Lift the Coca-Cola bottle and shake it gently.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Hold and shake the the brown bottle with red label carefully.", + "Hold the long thin bottle steady, then shake it.", + "Lift the bottle with ridges on bottom with the right arm and shake it.", + "Grasp the plastic drink bottle with the right arm and shake it.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Grab the smooth bottle with red lid with the right arm and shake.", + "Using the right arm, shake the narrow-necked bottle and then place it back.", + "Utilize the right arm to hold the dark drink bottle with logo and shake it.", + "Take the plastic drink bottle using the right arm and give it a shake.", + "Shake the the narrow-necked bottle properly after lifting.", + "Grab the dark drink bottle with logo using the right arm, then shake.", + "Use the right arm to grab the hand-sized soda bottle and shake it.", + "Use the right arm to hold the narrow-necked bottle and shake it.", + "Pick the dark drink bottle with logo up with the right arm and shake.", + "Shake the smooth bottle with red lid using the right arm after grabbing.", + "Grab and shake the narrow-necked bottle using the right arm.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Lift the long thin bottle and shake it thoroughly.", + "Pick the long thin bottle up using the right arm and shake it.", + "Pick up the narrow-necked bottle and shake it well.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Shake the plastic drink bottle after holding it firmly.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Pick the bottle with ridges on bottom, shake it with the right arm.", + "Shake the dark drink bottle with logo after grabbing it.", + "Shake the plastic drink bottle after grabbing it.", + "Use the right arm to grab the plastic drink bottle and shake properly.", + "Grip the long thin bottle using the right arm and shake.", + "Grab the red-capped bottle carefully and shake.", + "Shake the medium dark brown bottle after lifting it.", + "Hold the plastic drink bottle with the right arm and shake lightly.", + "Use the right arm to pick and shake the long thin bottle.", + "With the right arm, pick the long thin bottle and shake properly.", + "Pick up the bottle with ridges on bottom and shake it.", + "Shake the bottle with white neck and red top after grabbing it.", + "Pick the plastic drink bottle and perform shaking motion.", + "Lift the bottle with ridges on bottom with the right arm and shake.", + "Lift up the bottle with ridges on bottom using the right arm, then shake.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Hold the bottle with white neck and red top and shake it properly.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down." + ], + "unseen": [ + "Grab the brown bottle and give it a shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode217.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode217.json new file mode 100644 index 0000000000000000000000000000000000000000..30e9cd2df3fbcc87e321e4ac5bfe57120b554fec --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode217.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the Coca-Cola bottle firmly after grabbing.", + "Use the left arm to grab the dark drink bottle with logo and shake it.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Using the left arm, shake the medium dark brown bottle and then place it back.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Pick the brown bottle with red label up using the left arm and shake it.", + "Hold and shake the the plastic drink bottle carefully.", + "Pick up the dark drink bottle with logo and shake it well.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Hold the bottle with white neck and red top and shake it properly.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Grab the plastic drink bottle using the left arm, then shake.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Secure the Coca-Cola bottle and perform a shake.", + "With the left arm, pick the medium dark brown bottle and shake properly.", + "Pick the red-capped bottle up with the left arm and shake.", + "Lift the long thin bottle with the left arm and give it a shake.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Shake the brown bottle with red label using the left arm after grabbing.", + "Use the left arm to hold the brown bottle with red label and shake it.", + "Grab the plastic drink bottle and give it a shake.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Grab and shake the brown bottle with red label using the left arm.", + "Pick the red-capped bottle and perform shaking motion.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Grab the dark drink bottle with logo carefully and shake.", + "Lift up the red-capped bottle using the left arm, then shake.", + "Grab the plastic drink bottle with the left arm and shake.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Take the plastic drink bottle using the left arm and give it a shake.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Shake the smooth bottle with red lid after grabbing it.", + "Pick up the dark drink bottle with logo and shake it.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Shake the Coca-Cola bottle after lifting it.", + "Lift the long thin bottle and shake it gently.", + "Lift the red-capped bottle with the left arm and shake.", + "Grip the Coca-Cola bottle using the left arm and shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Use the left arm to pick and shake the long thin bottle.", + "Pick the bottle with white neck and red top, shake it with the left arm.", + "Shake the narrow-necked bottle after grabbing it.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Shake the red-capped bottle firmly after grabbing.", + "Use the left arm to grab the long thin bottle and shake it.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Using the left arm, shake the bottle with ridges on bottom and then place it back.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Hold and shake the the narrow-necked bottle carefully.", + "Pick up the hand-sized soda bottle and shake it well.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Hold the bottle with white neck and red top and shake it properly.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Grab the medium dark brown bottle using the left arm, then shake.", + "Grab the dark drink bottle with logo and move it to shake.", + "Secure the hand-sized soda bottle and perform a shake.", + "With the left arm, pick the plastic drink bottle and shake properly.", + "Pick the long thin bottle up with the left arm and shake.", + "Lift the narrow-necked bottle with the left arm and give it a shake.", + "Grasp the long thin bottle with the left arm and shake it.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Grab the brown bottle with red label and give it a shake.", + "Hold the medium dark brown bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Grab the brown bottle with red label carefully and shake.", + "Lift up the long thin bottle using the left arm, then shake.", + "Grab the medium dark brown bottle with the left arm and shake.", + "Utilize the left arm to hold the long thin bottle and shake it.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Take the dark drink bottle with logo using the left arm and give it a shake.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Shake the long thin bottle after grabbing it.", + "Pick up the Coca-Cola bottle and shake it.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Shake the bottle with ridges on bottom after lifting it.", + "Lift the long thin bottle and shake it gently.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Shake the bottle with white neck and red top after grabbing it.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Pick the smooth bottle with red lid, shake it with the left arm.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grab the narrow-necked bottle and shake it steadily." + ], + "unseen": [ + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode218.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode218.json new file mode 100644 index 0000000000000000000000000000000000000000..6e508d6f63525bb95839a933459da7e4d73d0138 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode218.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the bottle with white printed label.", + "Catch the plastic bottle and shake it instantly.", + "Hold the medium green bottle with the left arm and shake lightly.", + "Shake the green bottle with indented base after grabbing it.", + "Use the left arm to grab the medium-sized green bottle and shake properly.", + "Grip the bottle with rounded neck using the left arm and shake.", + "Lift the medium green bottle and shake it gently.", + "Hold the medium-sized green bottle steady, then shake it.", + "Utilize the left arm to hold the bottle with ridges near base and shake it.", + "Shake the smooth green plastic bottle after lifting it.", + "Use the left arm to pick and shake the smooth green plastic bottle.", + "Pick up the bottle with ridges near base and shake it.", + "Pick the green bottle with indented base up using the left arm and shake it.", + "Lift the plastic bottle with the left arm and shake.", + "Lift up the bottle with ridges near base using the left arm, then shake.", + "Grab the bottle with narrow top and shake it steadily.", + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Grab the handheld green bottle carefully and shake.", + "Shake the the green bottle with indented base properly after lifting.", + "Grab the smooth green bottle with the left arm and shake.", + "Secure the medium-sized green bottle and perform a shake.", + "Pick up the smooth green plastic bottle and shake it well.", + "Hold and shake the the bottle with ridges near base carefully.", + "Shake the smooth green plastic bottle after grabbing it.", + "Use the left arm to lift and shake the smooth green bottle.", + "Use the left arm to hold the bottle with white printed label and shake it.", + "Grasp the bottle with rounded neck with the left arm and shake it.", + "Lift the smooth green plastic bottle with the left arm and shake it.", + "Grab the green bottle with indented base and move it to shake.", + "Shake the green bottle with indented base using the left arm after grabbing.", + "Take the medium green bottle using the left arm and give it a shake.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Grab the plastic bottle using the left arm, then shake.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Lift the handheld green bottle with the left arm and give it a shake.", + "Hold the bottle with white printed label and shake it properly.", + "Pick the medium-sized green bottle up with the left arm and shake.", + "Shake the medium green bottle after grabbing it.", + "Using the left arm, shake the handheld green bottle and then place it back.", + "Shake the green bottle with indented base firmly after grabbing.", + "Use the left arm to grab the medium green bottle with capped neck and shake it.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Grab the smooth green bottle and give it a shake.", + "Secure the medium green bottle, shake it, and place it down.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Grab and shake the bottle with white printed label using the left arm.", + "With the left arm, pick the bottle with narrow top and shake properly.", + "Pick the medium green bottle, shake it with the left arm.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Catch the medium-sized green bottle and shake it instantly.", + "Hold the bottle with narrow top with the left arm and shake lightly.", + "Shake the handheld green bottle after grabbing it.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "Lift the bottle with white printed label and shake it gently.", + "Hold the medium green bottle steady, then shake it.", + "Utilize the left arm to hold the bottle with narrow top and shake it.", + "Shake the green bottle with indented base after lifting it.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Pick up the medium green bottle and shake it.", + "Pick the handheld green bottle up using the left arm and shake it.", + "Lift the smooth green plastic bottle with the left arm and shake.", + "Lift up the smooth green bottle using the left arm, then shake.", + "Grab the bottle with ridges near base and shake it steadily.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Grab the smooth green bottle carefully and shake.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Grab the smooth green plastic bottle with the left arm and shake.", + "Secure the medium green bottle and perform a shake.", + "Pick up the bottle with rounded neck and shake it well.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Shake the smooth green plastic bottle after grabbing it.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Use the left arm to hold the green bottle with indented base and shake it.", + "Grasp the handheld green bottle with the left arm and shake it.", + "Lift the smooth green bottle with the left arm and shake it.", + "Grab the plastic bottle and move it to shake.", + "Shake the smooth green plastic bottle using the left arm after grabbing.", + "Take the bottle with narrow top using the left arm and give it a shake.", + "Shake the handheld green bottle after holding it firmly.", + "Grab the medium green bottle using the left arm, then shake.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Lift the bottle with ridges near base with the left arm and give it a shake.", + "Hold the smooth green bottle and shake it properly.", + "Pick the bottle with white printed label up with the left arm and shake.", + "Shake the green bottle with indented base after grabbing it.", + "Using the left arm, shake the medium-sized green bottle and then place it back.", + "Shake the medium green bottle firmly after grabbing.", + "Use the left arm to grab the bottle with ridges near base and shake it.", + "Pick the bottle with narrow top and perform shaking motion.", + "Grab the bottle with ridges near base and give it a shake.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Grab and shake the medium green bottle with capped neck using the left arm.", + "With the left arm, pick the bottle with ridges near base and shake properly.", + "Pick the medium-sized green bottle, shake it with the left arm.", + "Hold the smooth green bottle, shake it briefly.", + "Use the left arm to lift and shake the medium green bottle with capped neck." + ], + "unseen": [ + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode219.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode219.json new file mode 100644 index 0000000000000000000000000000000000000000..ec7313a94c13e092dd8bd01eb8645cf63f17674d --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode219.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Shake the hand-sized soda bottle after grabbing it.", + "Lift up the red-capped bottle using the left arm, then shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Use the left arm to grab the bottle with ridges on bottom and shake properly.", + "Pick the medium dark brown bottle up with the left arm and shake.", + "Pick the red-capped bottle and perform shaking motion.", + "Shake the brown bottle with red label using the left arm after grabbing.", + "Use the left arm to lift and shake the red-capped bottle.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Grab the narrow-necked bottle with the left arm and shake.", + "Use the left arm to pick and shake the brown bottle with red label.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Grab the Coca-Cola bottle carefully and shake.", + "Secure the long thin bottle, shake it, and place it down.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Pick up the bottle with ridges on bottom and shake it.", + "Hold and shake the the long thin bottle carefully.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Shake the medium dark brown bottle after lifting it.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Lift the Coca-Cola bottle with the left arm and shake.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Take the red-capped bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Pick the long thin bottle up using the left arm and shake it.", + "Secure the dark drink bottle with logo and perform a shake.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Shake the medium dark brown bottle after grabbing it.", + "Lift the red-capped bottle and shake it thoroughly.", + "Catch the medium dark brown bottle and shake it instantly.", + "Grab the medium dark brown bottle and move it to shake.", + "With the left arm, pick the narrow-necked bottle and shake properly.", + "Lift the smooth bottle with red lid with the left arm and give it a shake.", + "Grab and shake the plastic drink bottle using the left arm.", + "Shake the the brown bottle with red label properly after lifting.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Hold the long thin bottle and shake it properly.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Pick the smooth bottle with red lid, shake it with the left arm.", + "Grasp the medium dark brown bottle with the left arm and shake it.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Grab the narrow-necked bottle and shake it steadily.", + "Grab the plastic drink bottle using the left arm, then shake.", + "Grab the plastic drink bottle and give it a shake.", + "Lift the narrow-necked bottle and shake it gently.", + "Grip the long thin bottle using the left arm and shake.", + "Lift the smooth bottle with red lid with the left arm and shake it.", + "Use the left arm to grab the bottle with ridges on bottom and shake it.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Shake the dark drink bottle with logo after grabbing it.", + "Lift up the red-capped bottle using the left arm, then shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Use the left arm to grab the red-capped bottle and shake properly.", + "Pick the red-capped bottle up with the left arm and shake.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Hold the plastic drink bottle, shake it briefly.", + "Grab the smooth bottle with red lid with the left arm and shake.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Pick up the long thin bottle and shake it well.", + "Grab the plastic drink bottle carefully and shake.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Shake the brown bottle with red label firmly after grabbing.", + "Pick up the dark drink bottle with logo and shake it.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Using the left arm, shake the red-capped bottle and then place it back.", + "Shake the brown bottle with red label after lifting it.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Lift the narrow-necked bottle with the left arm and shake.", + "Hold the long thin bottle steady, then shake it.", + "Take the brown bottle with red label using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Pick the bottle with white neck and red top up using the left arm and shake it.", + "Secure the red-capped bottle and perform a shake.", + "Use the left arm to hold the red-capped bottle and shake it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Grab the red-capped bottle and move it to shake.", + "With the left arm, pick the brown bottle with red label and shake properly.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Shake the the medium dark brown bottle properly after lifting.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Hold the medium dark brown bottle and shake it properly.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Grab the bottle with ridges on bottom using the left arm, then shake.", + "Grab the smooth bottle with red lid and give it a shake.", + "Lift the smooth bottle with red lid and shake it gently.", + "Grip the dark drink bottle with logo using the left arm and shake.", + "Lift the red-capped bottle with the left arm and shake it.", + "Use the left arm to grab the long thin bottle and shake it." + ], + "unseen": [ + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode22.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..d068fe03b98814493b8591621a173e814560a5ea --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the plastic bottle with the left arm and shake it.", + "Grasp the medium-sized green bottle with the left arm and shake it.", + "Shake the medium green bottle after lifting it.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Lift up the medium green bottle using the left arm, then shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Pick the medium green bottle, shake it with the left arm.", + "Grab the handheld green bottle with the left arm and shake.", + "Pick up the bottle with white printed label and shake it.", + "Grab the bottle with ridges near base and move it to shake.", + "Use the left arm to hold the handheld green bottle and shake it.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Grab the smooth green bottle using the left arm, then shake.", + "Shake the smooth green bottle using the left arm after grabbing.", + "Use the left arm to lift and shake the bottle with white printed label.", + "With the left arm, pick the medium green bottle and shake properly.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Using the left arm, shake the bottle with rounded neck and then place it back.", + "Pick the plastic bottle up with the left arm and shake.", + "Grip the bottle with white printed label using the left arm and shake.", + "Pick the bottle with narrow top up using the left arm and shake it.", + "Secure the medium-sized green bottle and perform a shake.", + "Hold and shake the the smooth green bottle carefully.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Hold the bottle with white printed label and shake it properly.", + "Shake the medium-sized green bottle after grabbing it.", + "Grab and shake the smooth green bottle using the left arm.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Pick up the bottle with narrow top and shake it well.", + "Use the left arm to lift and shake the plastic bottle.", + "Lift the plastic bottle with the left arm and shake.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Lift the medium green bottle and shake it gently.", + "Use the left arm to grab the bottle with narrow top and shake properly.", + "Take the plastic bottle using the left arm and give it a shake.", + "Lift the bottle with rounded neck with the left arm and give it a shake.", + "Use the left arm to pick and shake the bottle with white printed label.", + "Shake the bottle with rounded neck after grabbing it.", + "Shake the the bottle with ridges near base properly after lifting.", + "Utilize the left arm to hold the handheld green bottle and shake it.", + "Grab the bottle with ridges near base and shake it steadily.", + "Secure the medium green bottle, shake it, and place it down.", + "Grab the smooth green plastic bottle carefully and shake.", + "Catch the plastic bottle and shake it instantly.", + "Use the left arm to grab the bottle with ridges near base and shake it.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Grab the handheld green bottle and give it a shake.", + "Shake the handheld green bottle after holding it firmly.", + "Hold the bottle with narrow top, shake it briefly.", + "Lift the bottle with rounded neck with the left arm and shake it.", + "Grasp the handheld green bottle with the left arm and shake it.", + "Shake the bottle with ridges near base after lifting it.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Lift up the bottle with white printed label using the left arm, then shake.", + "Shake the smooth green bottle after grabbing it.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Grab the smooth green plastic bottle with the left arm and shake.", + "Pick up the green bottle with indented base and shake it.", + "Grab the smooth green plastic bottle and move it to shake.", + "Use the left arm to hold the bottle with rounded neck and shake it.", + "Hold the handheld green bottle with the left arm and shake lightly.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Shake the bottle with narrow top using the left arm after grabbing.", + "Use the left arm to lift and shake the smooth green bottle.", + "With the left arm, pick the medium green bottle and shake properly.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Using the left arm, shake the bottle with narrow top and then place it back.", + "Pick the smooth green bottle up with the left arm and shake.", + "Grip the handheld green bottle using the left arm and shake.", + "Pick the medium green bottle with capped neck up using the left arm and shake it.", + "Secure the smooth green plastic bottle and perform a shake.", + "Hold and shake the the smooth green bottle carefully.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Hold the smooth green plastic bottle and shake it properly.", + "Shake the green bottle with indented base after grabbing it.", + "Grab and shake the plastic bottle using the left arm.", + "Hold the bottle with rounded neck steady, then shake it.", + "Pick up the handheld green bottle and shake it well.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Lift the medium green bottle with capped neck with the left arm and shake.", + "Pick the smooth green bottle and perform shaking motion.", + "Lift the bottle with ridges near base and shake it gently.", + "Use the left arm to grab the handheld green bottle and shake properly.", + "Take the green bottle with indented base using the left arm and give it a shake.", + "Lift the medium green bottle with the left arm and give it a shake.", + "Use the left arm to pick and shake the medium green bottle.", + "Shake the bottle with rounded neck after grabbing it.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Grab the handheld green bottle and shake it steadily.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Grab the smooth green bottle carefully and shake.", + "Catch the smooth green bottle and shake it instantly.", + "Use the left arm to grab the medium green bottle with capped neck and shake it.", + "Shake the green bottle with indented base firmly after grabbing.", + "Grab the plastic bottle and give it a shake.", + "Shake the bottle with ridges near base after holding it firmly.", + "Hold the medium green bottle, shake it briefly." + ], + "unseen": [ + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode220.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode220.json new file mode 100644 index 0000000000000000000000000000000000000000..ee802280fe6cd5fef426743602de58fd9b7c0369 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode220.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the medium green bottle.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Use the right arm to hold the handheld green bottle and shake it.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Hold the bottle with narrow top steady, then shake it.", + "Lift the medium green bottle and shake it gently.", + "Hold the medium-sized green bottle with the right arm and shake lightly.", + "Grab the green bottle with indented base and give it a shake.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Hold the bottle with narrow top and shake it properly.", + "Lift the plastic bottle with the right arm and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Pick the medium green bottle with capped neck up using the right arm and shake it.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Secure the medium green bottle, shake it, and place it down.", + "Shake the bottle with white printed label after grabbing it.", + "Hold the medium green bottle, shake it briefly.", + "Grip the medium green bottle with capped neck using the right arm and shake.", + "Lift the bottle with rounded neck with the right arm and give it a shake.", + "Use the right arm to grab the bottle with ridges near base and shake properly.", + "Shake the the bottle with narrow top properly after lifting.", + "Lift the medium-sized green bottle with the right arm and shake.", + "Lift up the medium green bottle using the right arm, then shake.", + "Pick the plastic bottle and perform shaking motion.", + "Grasp the smooth green plastic bottle with the right arm and shake it.", + "Utilize the right arm to hold the bottle with ridges near base and shake it.", + "With the right arm, pick the medium-sized green bottle and shake properly.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Use the right arm to grab the plastic bottle and shake it.", + "Secure the plastic bottle and perform a shake.", + "Grab the bottle with rounded neck and move it to shake.", + "Shake the green bottle with indented base after lifting it.", + "Grab the smooth green bottle and shake it steadily.", + "Using the right arm, shake the bottle with ridges near base and then place it back.", + "Catch the medium-sized green bottle and shake it instantly.", + "Grab and shake the bottle with narrow top using the right arm.", + "Pick up the medium green bottle and shake it.", + "Pick the bottle with ridges near base up with the right arm and shake.", + "Grab the medium green bottle using the right arm, then shake.", + "Use the right arm to pick and shake the medium green bottle with capped neck.", + "Pick the handheld green bottle, shake it with the right arm.", + "Shake the medium green bottle after grabbing it.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Take the bottle with white printed label using the right arm and give it a shake.", + "Pick up the bottle with white printed label and shake it well.", + "Shake the handheld green bottle using the right arm after grabbing.", + "Shake the medium-sized green bottle after holding it firmly.", + "Grab the medium green bottle with the right arm and shake.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Use the right arm to lift and shake the smooth green bottle.", + "Use the right arm to hold the handheld green bottle and shake it.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Hold the bottle with rounded neck steady, then shake it.", + "Lift the bottle with rounded neck and shake it gently.", + "Hold the bottle with rounded neck with the right arm and shake lightly.", + "Grab the smooth green bottle and give it a shake.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Hold the plastic bottle and shake it properly.", + "Lift the smooth green bottle with the right arm and shake it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Pick the bottle with narrow top up using the right arm and shake it.", + "Use the right arm to lift and shake the smooth green bottle.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Shake the smooth green bottle after grabbing it.", + "Hold the plastic bottle, shake it briefly.", + "Grip the medium green bottle with capped neck using the right arm and shake.", + "Lift the bottle with narrow top with the right arm and give it a shake.", + "Use the right arm to grab the medium green bottle with capped neck and shake properly.", + "Shake the the medium green bottle properly after lifting.", + "Lift the green bottle with indented base with the right arm and shake.", + "Lift up the green bottle with indented base using the right arm, then shake.", + "Pick the bottle with narrow top and perform shaking motion.", + "Grasp the smooth green bottle with the right arm and shake it.", + "Utilize the right arm to hold the medium green bottle and shake it.", + "With the right arm, pick the bottle with narrow top and shake properly.", + "Shake the medium green bottle firmly after grabbing.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Use the right arm to grab the handheld green bottle and shake it.", + "Secure the medium green bottle and perform a shake.", + "Grab the bottle with ridges near base and move it to shake.", + "Shake the medium green bottle with capped neck after lifting it.", + "Grab the bottle with white printed label and shake it steadily.", + "Using the right arm, shake the smooth green plastic bottle and then place it back.", + "Catch the bottle with rounded neck and shake it instantly.", + "Grab and shake the medium green bottle with capped neck using the right arm.", + "Pick up the plastic bottle and shake it.", + "Pick the handheld green bottle up with the right arm and shake.", + "Grab the smooth green plastic bottle using the right arm, then shake.", + "Use the right arm to pick and shake the green bottle with indented base.", + "Pick the bottle with narrow top, shake it with the right arm.", + "Shake the bottle with ridges near base after grabbing it.", + "Grab the medium green bottle carefully and shake.", + "Take the medium green bottle with capped neck using the right arm and give it a shake.", + "Pick up the medium green bottle and shake it well.", + "Shake the handheld green bottle using the right arm after grabbing.", + "Shake the green bottle with indented base after holding it firmly.", + "Grab the green bottle with indented base with the right arm and shake.", + "Grab the medium green bottle firmly, shake it, and put it down." + ], + "unseen": [ + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode221.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode221.json new file mode 100644 index 0000000000000000000000000000000000000000..fbd479f9b6595ef564895bf9112bb8c0ce25051e --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode221.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the right arm, shake the hand-sized soda bottle and then place it back.", + "Lift the Coca-Cola bottle with the right arm and shake.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Hold the narrow-necked bottle and shake it properly.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Lift the brown bottle with red label with the right arm and shake it.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Grip the bottle with ridges on bottom using the right arm and shake.", + "With the right arm, pick the medium dark brown bottle and shake properly.", + "Lift up the medium dark brown bottle using the right arm, then shake.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Shake the dark drink bottle with logo after grabbing it.", + "Grab the long thin bottle and move it to shake.", + "Shake the Coca-Cola bottle after lifting it.", + "Grab the smooth bottle with red lid using the right arm, then shake.", + "Hold the smooth bottle with red lid with the right arm and shake lightly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Pick the hand-sized soda bottle up using the right arm and shake it.", + "Take the medium dark brown bottle using the right arm and give it a shake.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Secure the hand-sized soda bottle and perform a shake.", + "Shake the the medium dark brown bottle properly after lifting.", + "Use the right arm to grab the smooth bottle with red lid and shake properly.", + "Use the right arm to hold the medium dark brown bottle and shake it.", + "Grab the narrow-necked bottle and give it a shake.", + "Pick up the medium dark brown bottle and shake it well.", + "Lift the smooth bottle with red lid with the right arm and give it a shake.", + "Use the right arm to pick and shake the smooth bottle with red lid.", + "Pick the bottle with white neck and red top, shake it with the right arm.", + "Grab and shake the long thin bottle using the right arm.", + "Pick the plastic drink bottle and perform shaking motion.", + "Grab the narrow-necked bottle with the right arm and shake.", + "Utilize the right arm to hold the smooth bottle with red lid and shake it.", + "Pick the bottle with ridges on bottom up with the right arm and shake.", + "Use the right arm to grab the long thin bottle and shake it.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Shake the long thin bottle after grabbing it.", + "Pick up the dark drink bottle with logo and shake it.", + "Grasp the long thin bottle with the right arm and shake it.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Hold the narrow-necked bottle steady, then shake it.", + "Shake the red-capped bottle after holding it firmly.", + "Lift the smooth bottle with red lid and shake it gently.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Catch the plastic drink bottle and shake it instantly.", + "Shake the hand-sized soda bottle using the right arm after grabbing.", + "Using the right arm, shake the Coca-Cola bottle and then place it back.", + "Lift the brown bottle with red label with the right arm and shake.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Hold the dark drink bottle with logo and shake it properly.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Grab the smooth bottle with red lid carefully and shake.", + "Lift the medium dark brown bottle with the right arm and shake it.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the long thin bottle.", + "Grip the brown bottle with red label using the right arm and shake.", + "With the right arm, pick the narrow-necked bottle and shake properly.", + "Lift up the medium dark brown bottle using the right arm, then shake.", + "Hold the long thin bottle, shake it briefly.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Shake the bottle with white neck and red top after grabbing it.", + "Grab the plastic drink bottle and move it to shake.", + "Shake the long thin bottle after lifting it.", + "Grab the Coca-Cola bottle using the right arm, then shake.", + "Hold the dark drink bottle with logo with the right arm and shake lightly.", + "Shake the smooth bottle with red lid after grabbing it.", + "Pick the bottle with white neck and red top up using the right arm and shake it.", + "Take the bottle with white neck and red top using the right arm and give it a shake.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Secure the hand-sized soda bottle and perform a shake.", + "Shake the the red-capped bottle properly after lifting.", + "Use the right arm to grab the red-capped bottle and shake properly.", + "Use the right arm to hold the narrow-necked bottle and shake it.", + "Grab the medium dark brown bottle and give it a shake.", + "Pick up the narrow-necked bottle and shake it well.", + "Lift the brown bottle with red label with the right arm and give it a shake.", + "Use the right arm to pick and shake the narrow-necked bottle.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Grab and shake the bottle with ridges on bottom using the right arm.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Grab the narrow-necked bottle with the right arm and shake.", + "Utilize the right arm to hold the long thin bottle and shake it.", + "Pick the bottle with ridges on bottom up with the right arm and shake.", + "Use the right arm to grab the bottle with ridges on bottom and shake it.", + "Grab the red-capped bottle and shake it steadily.", + "Shake the brown bottle with red label after grabbing it.", + "Pick up the brown bottle with red label and shake it.", + "Grasp the bottle with white neck and red top with the right arm and shake it.", + "Hold and shake the the red-capped bottle carefully.", + "Hold the red-capped bottle steady, then shake it.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Lift the narrow-necked bottle and shake it gently.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Shake the plastic drink bottle using the right arm after grabbing." + ], + "unseen": [ + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode222.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode222.json new file mode 100644 index 0000000000000000000000000000000000000000..8e372199ec54b981abce3ef4fe31e24aa4c352ea --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode222.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the red-capped bottle after grabbing it.", + "Catch the long thin bottle and shake it instantly.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Hold the red-capped bottle and shake it properly.", + "Shake the red-capped bottle using the left arm after grabbing.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Lift the bottle with white neck and red top with the left arm and shake.", + "Pick the brown bottle with red label up using the left arm and shake it.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Shake the brown bottle with red label after lifting it.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Grab the medium dark brown bottle and give it a shake.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Grab the smooth bottle with red lid with the left arm and shake.", + "Use the left arm to grab the Coca-Cola bottle and shake properly.", + "Take the bottle with white neck and red top using the left arm and give it a shake.", + "Grasp the long thin bottle with the left arm and shake it.", + "Lift the long thin bottle with the left arm and shake it.", + "Utilize the left arm to hold the Coca-Cola bottle and shake it.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Pick up the long thin bottle and shake it.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Pick up the red-capped bottle and shake it well.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Pick the long thin bottle up with the left arm and shake.", + "Shake the the red-capped bottle properly after lifting.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Grab the smooth bottle with red lid and move it to shake.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Use the left arm to grab the long thin bottle and shake it.", + "Grab the red-capped bottle using the left arm, then shake.", + "Shake the red-capped bottle after grabbing it.", + "Secure the dark drink bottle with logo and perform a shake.", + "With the left arm, pick the brown bottle with red label and shake properly.", + "Grab the smooth bottle with red lid carefully and shake.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Shake the brown bottle with red label after holding it firmly.", + "Grab and shake the brown bottle with red label using the left arm.", + "Use the left arm to hold the brown bottle with red label and shake it.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Shake the brown bottle with red label after grabbing it.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Grip the Coca-Cola bottle using the left arm and shake.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Lift the bottle with white neck and red top and shake it gently.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Hold the dark drink bottle with logo and shake it properly.", + "Shake the bottle with white neck and red top using the left arm after grabbing.", + "Shake the plastic drink bottle firmly after grabbing.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Lift the Coca-Cola bottle with the left arm and shake.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Shake the hand-sized soda bottle after lifting it.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Grab the hand-sized soda bottle and give it a shake.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "Use the left arm to grab the bottle with ridges on bottom and shake properly.", + "Take the red-capped bottle using the left arm and give it a shake.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Utilize the left arm to hold the plastic drink bottle and shake it.", + "Use the left arm to lift and shake the red-capped bottle.", + "Pick up the dark drink bottle with logo and shake it.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Pick up the plastic drink bottle and shake it well.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Pick the brown bottle with red label up with the left arm and shake.", + "Shake the the red-capped bottle properly after lifting.", + "Hold the medium dark brown bottle, shake it briefly.", + "Grab the dark drink bottle with logo and move it to shake.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Use the left arm to grab the brown bottle with red label and shake it.", + "Grab the red-capped bottle using the left arm, then shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Secure the bottle with ridges on bottom and perform a shake.", + "With the left arm, pick the smooth bottle with red lid and shake properly.", + "Grab the smooth bottle with red lid carefully and shake.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Shake the long thin bottle after holding it firmly.", + "Grab and shake the plastic drink bottle using the left arm.", + "Use the left arm to hold the medium dark brown bottle and shake it.", + "Lift up the brown bottle with red label using the left arm, then shake.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Grip the dark drink bottle with logo using the left arm and shake.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Lift the medium dark brown bottle and shake it gently." + ], + "unseen": [ + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode223.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode223.json new file mode 100644 index 0000000000000000000000000000000000000000..b5884789280e53e20339694ee0c5b452861f680f --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode223.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the bottle with white printed label and shake it instantly.", + "Grab the bottle with ridges near base and move it to shake.", + "Grab the medium green bottle with capped neck with the left arm and shake.", + "Shake the bottle with narrow top after grabbing it.", + "Pick up the handheld green bottle and shake it well.", + "With the left arm, pick the plastic bottle and shake properly.", + "Shake the medium green bottle after grabbing it.", + "Grab the medium-sized green bottle and shake it steadily.", + "Lift the smooth green bottle and shake it thoroughly.", + "Secure the smooth green bottle, shake it, and place it down.", + "Grasp the bottle with ridges near base with the left arm and shake it.", + "Use the left arm to grab the medium-sized green bottle and shake it.", + "Pick the smooth green plastic bottle, shake it with the left arm.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Pick up the bottle with narrow top and shake it.", + "Pick the medium green bottle with capped neck up using the left arm and shake it.", + "Shake the the bottle with ridges near base properly after lifting.", + "Hold and shake the the medium green bottle carefully.", + "Take the medium-sized green bottle using the left arm and give it a shake.", + "Using the left arm, shake the smooth green bottle and then place it back.", + "Pick the smooth green bottle and perform shaking motion.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Pick the medium green bottle with capped neck up with the left arm and shake.", + "Use the left arm to grab the green bottle with indented base and shake properly.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Lift the medium green bottle with capped neck with the left arm and shake it.", + "Grab the bottle with rounded neck using the left arm, then shake.", + "Lift the handheld green bottle with the left arm and give it a shake.", + "Shake the medium green bottle after grabbing it.", + "Hold the bottle with ridges near base, shake it briefly.", + "Grab the smooth green plastic bottle carefully and shake.", + "Shake the smooth green plastic bottle after lifting it.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Hold the medium-sized green bottle and shake it properly.", + "Grip the bottle with rounded neck using the left arm and shake.", + "Lift up the medium-sized green bottle using the left arm, then shake.", + "Utilize the left arm to hold the bottle with ridges near base and shake it.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Use the left arm to lift and shake the handheld green bottle.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Shake the bottle with rounded neck using the left arm after grabbing.", + "Secure the bottle with ridges near base and perform a shake.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Shake the bottle with ridges near base after holding it firmly.", + "Use the left arm to lift and shake the plastic bottle.", + "Hold the medium green bottle with capped neck with the left arm and shake lightly.", + "Grab the bottle with white printed label and give it a shake.", + "Lift the smooth green bottle and shake it gently.", + "Lift the bottle with white printed label with the left arm and shake.", + "Grab and shake the smooth green bottle using the left arm.", + "Catch the bottle with ridges near base and shake it instantly.", + "Grab the bottle with white printed label and move it to shake.", + "Grab the bottle with ridges near base with the left arm and shake.", + "Shake the bottle with white printed label after grabbing it.", + "Pick up the green bottle with indented base and shake it well.", + "With the left arm, pick the handheld green bottle and shake properly.", + "Shake the plastic bottle after grabbing it.", + "Grab the bottle with white printed label and shake it steadily.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Grasp the bottle with ridges near base with the left arm and shake it.", + "Use the left arm to grab the bottle with narrow top and shake it.", + "Pick the bottle with ridges near base, shake it with the left arm.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Pick up the plastic bottle and shake it.", + "Pick the medium green bottle up using the left arm and shake it.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Hold and shake the the green bottle with indented base carefully.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Pick the medium green bottle and perform shaking motion.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Pick the handheld green bottle up with the left arm and shake.", + "Use the left arm to grab the bottle with white printed label and shake properly.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Shake the medium green bottle after grabbing it.", + "Hold the medium green bottle, shake it briefly.", + "Grab the bottle with narrow top carefully and shake.", + "Shake the plastic bottle after lifting it.", + "Use the left arm to pick and shake the bottle with narrow top.", + "Hold the bottle with ridges near base and shake it properly.", + "Grip the medium-sized green bottle using the left arm and shake.", + "Lift up the bottle with rounded neck using the left arm, then shake.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Use the left arm to lift and shake the smooth green bottle.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Use the left arm to hold the bottle with white printed label and shake it.", + "Shake the bottle with white printed label using the left arm after grabbing.", + "Secure the medium-sized green bottle and perform a shake.", + "Shake the bottle with white printed label firmly after grabbing.", + "Shake the bottle with rounded neck after holding it firmly.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Lift the smooth green plastic bottle and shake it gently.", + "Lift the smooth green plastic bottle with the left arm and shake.", + "Grab and shake the smooth green bottle using the left arm." + ], + "unseen": [ + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode224.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode224.json new file mode 100644 index 0000000000000000000000000000000000000000..916f52eebde4df2c0cda7769e50f5564a018a9e4 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode224.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Grab the hand-sized soda bottle using the left arm, then shake.", + "Hold the medium dark brown bottle with the left arm and shake lightly.", + "Pick the hand-sized soda bottle up with the left arm and shake.", + "Pick the bottle with white neck and red top, shake it with the left arm.", + "Lift the plastic drink bottle and shake it gently.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Hold the hand-sized soda bottle and shake it properly.", + "Grip the bottle with ridges on bottom using the left arm and shake.", + "Pick up the narrow-necked bottle and shake it well.", + "Use the left arm to pick and shake the brown bottle with red label.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Grab the dark drink bottle with logo carefully and shake.", + "Grab the plastic drink bottle and shake it steadily.", + "Lift the bottle with white neck and red top with the left arm and shake.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Shake the red-capped bottle after grabbing it.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Lift the red-capped bottle and shake it thoroughly.", + "Pick the plastic drink bottle and perform shaking motion.", + "Grab and shake the long thin bottle using the left arm.", + "Hold the medium dark brown bottle steady, then shake it.", + "Utilize the left arm to hold the brown bottle with red label and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Lift up the Coca-Cola bottle using the left arm, then shake.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "With the left arm, pick the red-capped bottle and shake properly.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "Shake the the medium dark brown bottle properly after lifting.", + "Secure the bottle with white neck and red top and perform a shake.", + "Shake the brown bottle with red label after holding it firmly.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Shake the bottle with white neck and red top after grabbing it.", + "Pick up the plastic drink bottle and shake it.", + "Use the left arm to lift and shake the red-capped bottle.", + "Use the left arm to grab the hand-sized soda bottle and shake it.", + "Shake the bottle with ridges on bottom after lifting it.", + "Lift the medium dark brown bottle with the left arm and give it a shake.", + "Grab the long thin bottle and give it a shake.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Use the left arm to hold the narrow-necked bottle and shake it.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Lift the long thin bottle with the left arm and shake it.", + "Grab the brown bottle with red label and move it to shake.", + "Grasp the bottle with white neck and red top with the left arm and shake it.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Use the left arm to lift and shake the long thin bottle.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Hold the medium dark brown bottle with the left arm and shake lightly.", + "Pick the brown bottle with red label up with the left arm and shake.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Lift the medium dark brown bottle and shake it gently.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Hold the brown bottle with red label and shake it properly.", + "Grip the brown bottle with red label using the left arm and shake.", + "Pick up the medium dark brown bottle and shake it well.", + "Use the left arm to pick and shake the long thin bottle.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Pick the hand-sized soda bottle up using the left arm and shake it.", + "Grab the bottle with white neck and red top carefully and shake.", + "Grab the brown bottle with red label and shake it steadily.", + "Lift the long thin bottle with the left arm and shake.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Shake the bottle with white neck and red top after grabbing it.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Pick the red-capped bottle and perform shaking motion.", + "Grab and shake the Coca-Cola bottle using the left arm.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Utilize the left arm to hold the brown bottle with red label and shake it.", + "Shake the narrow-necked bottle after grabbing it.", + "Lift up the brown bottle with red label using the left arm, then shake.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Using the left arm, shake the dark drink bottle with logo and then place it back.", + "With the left arm, pick the bottle with white neck and red top and shake properly.", + "Grab the narrow-necked bottle with the left arm and shake.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Secure the long thin bottle and perform a shake.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Shake the bottle with white neck and red top after grabbing it.", + "Pick up the narrow-necked bottle and shake it.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Use the left arm to grab the red-capped bottle and shake it.", + "Shake the brown bottle with red label after lifting it.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Grab the red-capped bottle and give it a shake.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Shake the smooth bottle with red lid using the left arm after grabbing.", + "Lift the smooth bottle with red lid with the left arm and shake it.", + "Grab the plastic drink bottle and move it to shake.", + "Grasp the red-capped bottle with the left arm and shake it." + ], + "unseen": [ + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode225.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode225.json new file mode 100644 index 0000000000000000000000000000000000000000..353a6a9822b442280308b21c565aa0403f6fd642 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode225.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the Coca-Cola bottle and shake it steadily.", + "Hold the bottle with ridges on bottom with the right arm and shake lightly.", + "Shake the smooth bottle with red lid after lifting it.", + "Pick up the medium dark brown bottle and shake it.", + "With the right arm, pick the bottle with ridges on bottom and shake properly.", + "Utilize the right arm to hold the plastic drink bottle and shake it.", + "Pick the smooth bottle with red lid up using the right arm and shake it.", + "Shake the bottle with white neck and red top using the right arm after grabbing.", + "Shake the long thin bottle after grabbing it.", + "Use the right arm to grab the red-capped bottle and shake it.", + "Lift up the Coca-Cola bottle using the right arm, then shake.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Pick the narrow-necked bottle up with the right arm and shake.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Secure the long thin bottle, shake it, and place it down.", + "Use the right arm to pick and shake the brown bottle with red label.", + "Pick up the bottle with white neck and red top and shake it well.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Pick the long thin bottle and perform shaking motion.", + "Use the right arm to hold the hand-sized soda bottle and shake it.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Hold the narrow-necked bottle, shake it briefly.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Grab the narrow-necked bottle and move it to shake.", + "Lift the bottle with ridges on bottom with the right arm and give it a shake.", + "Grab the dark drink bottle with logo carefully and shake.", + "Shake the long thin bottle firmly after grabbing.", + "Grab the smooth bottle with red lid using the right arm, then shake.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Lift the red-capped bottle with the right arm and shake it.", + "Take the long thin bottle using the right arm and give it a shake.", + "Grab the red-capped bottle with the right arm and shake.", + "Hold the brown bottle with red label steady, then shake it.", + "Lift the brown bottle with red label with the right arm and shake.", + "Use the right arm to lift and shake the long thin bottle.", + "Hold the Coca-Cola bottle and shake it properly.", + "Use the right arm to grab the medium dark brown bottle and shake properly.", + "Grasp the long thin bottle with the right arm and shake it.", + "Grab the plastic drink bottle and give it a shake.", + "Pick the red-capped bottle, shake it with the right arm.", + "Shake the the narrow-necked bottle properly after lifting.", + "Shake the plastic drink bottle after grabbing it.", + "Grip the medium dark brown bottle using the right arm and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Lift the medium dark brown bottle and shake it gently.", + "Grab and shake the narrow-necked bottle using the right arm.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Using the right arm, shake the plastic drink bottle and then place it back.", + "Secure the brown bottle with red label and perform a shake.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Hold the hand-sized soda bottle with the right arm and shake lightly.", + "Shake the narrow-necked bottle after lifting it.", + "Pick up the Coca-Cola bottle and shake it.", + "With the right arm, pick the Coca-Cola bottle and shake properly.", + "Utilize the right arm to hold the Coca-Cola bottle and shake it.", + "Pick the dark drink bottle with logo up using the right arm and shake it.", + "Shake the medium dark brown bottle using the right arm after grabbing.", + "Shake the narrow-necked bottle after grabbing it.", + "Use the right arm to grab the long thin bottle and shake it.", + "Lift up the red-capped bottle using the right arm, then shake.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Pick the bottle with ridges on bottom up with the right arm and shake.", + "Lift the red-capped bottle and shake it thoroughly.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Use the right arm to pick and shake the medium dark brown bottle.", + "Pick up the plastic drink bottle and shake it well.", + "Catch the narrow-necked bottle and shake it instantly.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Use the right arm to hold the bottle with white neck and red top and shake it.", + "Hold and shake the the brown bottle with red label carefully.", + "Hold the narrow-necked bottle, shake it briefly.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Grab the plastic drink bottle and move it to shake.", + "Lift the brown bottle with red label with the right arm and give it a shake.", + "Grab the narrow-necked bottle carefully and shake.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Grab the bottle with white neck and red top using the right arm, then shake.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Lift the red-capped bottle with the right arm and shake it.", + "Take the dark drink bottle with logo using the right arm and give it a shake.", + "Grab the medium dark brown bottle with the right arm and shake.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Lift the hand-sized soda bottle with the right arm and shake.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Hold the dark drink bottle with logo and shake it properly.", + "Use the right arm to grab the smooth bottle with red lid and shake properly.", + "Grasp the dark drink bottle with logo with the right arm and shake it.", + "Grab the bottle with white neck and red top and give it a shake.", + "Pick the narrow-necked bottle, shake it with the right arm.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Shake the plastic drink bottle after grabbing it.", + "Grip the bottle with ridges on bottom using the right arm and shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Lift the medium dark brown bottle and shake it gently.", + "Grab and shake the hand-sized soda bottle using the right arm.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Using the right arm, shake the narrow-necked bottle and then place it back.", + "Secure the dark drink bottle with logo and perform a shake." + ], + "unseen": [ + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode226.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode226.json new file mode 100644 index 0000000000000000000000000000000000000000..e1d244cb79c2ed38b4688200b66c7e7c3beb84d2 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode226.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the medium-sized green bottle with the left arm and shake lightly.", + "With the left arm, pick the smooth green plastic bottle and shake properly.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Grab the smooth green bottle carefully and shake.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grab the bottle with white printed label and shake it steadily.", + "Pick the smooth green bottle up with the left arm and shake.", + "Secure the medium green bottle, shake it, and place it down.", + "Shake the the smooth green bottle properly after lifting.", + "Use the left arm to lift and shake the smooth green bottle.", + "Grab the plastic bottle and give it a shake.", + "Take the bottle with ridges near base using the left arm and give it a shake.", + "Shake the plastic bottle after lifting it.", + "Grab and shake the medium-sized green bottle using the left arm.", + "Hold the bottle with ridges near base and shake it properly.", + "Grab the medium-sized green bottle with the left arm and shake.", + "Hold the handheld green bottle steady, then shake it.", + "Hold and shake the the bottle with white printed label carefully.", + "Lift the bottle with rounded neck with the left arm and give it a shake.", + "Pick up the handheld green bottle and shake it.", + "Grasp the medium green bottle with capped neck with the left arm and shake it.", + "Use the left arm to hold the smooth green plastic bottle and shake it.", + "Lift the smooth green bottle with the left arm and shake it.", + "Shake the bottle with narrow top after holding it firmly.", + "Catch the bottle with rounded neck and shake it instantly.", + "Lift the bottle with narrow top with the left arm and shake.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Lift up the bottle with rounded neck using the left arm, then shake.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Use the left arm to pick and shake the handheld green bottle.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Use the left arm to grab the smooth green bottle and shake properly.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Grab the medium green bottle using the left arm, then shake.", + "Hold the green bottle with indented base, shake it briefly.", + "Using the left arm, shake the medium-sized green bottle and then place it back.", + "Shake the medium green bottle using the left arm after grabbing.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Use the left arm to grab the smooth green bottle and shake it.", + "Shake the bottle with white printed label after grabbing it.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Pick the medium green bottle with capped neck up using the left arm and shake it.", + "Grip the bottle with narrow top using the left arm and shake.", + "Pick up the bottle with rounded neck and shake it well.", + "Secure the smooth green bottle and perform a shake.", + "Shake the medium green bottle after grabbing it.", + "Lift the bottle with rounded neck and shake it gently.", + "Utilize the left arm to hold the bottle with narrow top and shake it.", + "Grab the bottle with ridges near base and move it to shake.", + "Hold the plastic bottle with the left arm and shake lightly.", + "With the left arm, pick the green bottle with indented base and shake properly.", + "Use the left arm to lift and shake the handheld green bottle.", + "Grab the medium-sized green bottle carefully and shake.", + "Shake the bottle with rounded neck after grabbing it.", + "Grab the bottle with rounded neck and shake it steadily.", + "Pick the smooth green plastic bottle up with the left arm and shake.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Shake the the bottle with rounded neck properly after lifting.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Grab the handheld green bottle and give it a shake.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Shake the smooth green plastic bottle after lifting it.", + "Grab and shake the medium-sized green bottle using the left arm.", + "Hold the plastic bottle and shake it properly.", + "Grab the green bottle with indented base with the left arm and shake.", + "Hold the green bottle with indented base steady, then shake it.", + "Hold and shake the the green bottle with indented base carefully.", + "Lift the medium-sized green bottle with the left arm and give it a shake.", + "Pick up the plastic bottle and shake it.", + "Grasp the green bottle with indented base with the left arm and shake it.", + "Use the left arm to hold the bottle with ridges near base and shake it.", + "Lift the bottle with rounded neck with the left arm and shake it.", + "Shake the bottle with rounded neck after holding it firmly.", + "Catch the bottle with ridges near base and shake it instantly.", + "Lift the plastic bottle with the left arm and shake.", + "Pick the smooth green bottle and perform shaking motion.", + "Lift up the handheld green bottle using the left arm, then shake.", + "Use the left arm to lift and shake the medium green bottle.", + "Use the left arm to pick and shake the bottle with narrow top.", + "Shake the smooth green bottle firmly after grabbing.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Use the left arm to grab the handheld green bottle and shake properly.", + "Lift the plastic bottle and shake it thoroughly.", + "Grab the handheld green bottle using the left arm, then shake.", + "Hold the bottle with ridges near base, shake it briefly.", + "Using the left arm, shake the bottle with rounded neck and then place it back.", + "Shake the handheld green bottle using the left arm after grabbing.", + "Pick the bottle with ridges near base, shake it with the left arm.", + "Use the left arm to grab the plastic bottle and shake it.", + "Shake the smooth green bottle after grabbing it.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Pick the bottle with ridges near base up using the left arm and shake it.", + "Grip the green bottle with indented base using the left arm and shake.", + "Pick up the green bottle with indented base and shake it well.", + "Secure the bottle with rounded neck and perform a shake.", + "Shake the smooth green bottle after grabbing it.", + "Lift the bottle with ridges near base and shake it gently.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Grab the bottle with white printed label and move it to shake." + ], + "unseen": [ + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode227.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode227.json new file mode 100644 index 0000000000000000000000000000000000000000..b4730a2b7b306cb1b32c2b2bc270bf06e4cea943 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode227.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the bottle with ridges on bottom using the left arm and shake.", + "Grab the long thin bottle and move it to shake.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "With the left arm, pick the hand-sized soda bottle and shake properly.", + "Use the left arm to pick and shake the plastic drink bottle.", + "Shake the long thin bottle after holding it firmly.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Shake the brown bottle with red label firmly after grabbing.", + "Take the hand-sized soda bottle using the left arm and give it a shake.", + "Lift the plastic drink bottle with the left arm and shake it.", + "Grab the narrow-necked bottle with the left arm and shake.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Use the left arm to grab the plastic drink bottle and shake it.", + "Lift the long thin bottle and shake it thoroughly.", + "Grab the brown bottle with red label and give it a shake.", + "Use the left arm to lift and shake the long thin bottle.", + "Shake the bottle with white neck and red top after grabbing it.", + "Pick the long thin bottle up using the left arm and shake it.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Use the left arm to hold the narrow-necked bottle and shake it.", + "Shake the the plastic drink bottle properly after lifting.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Secure the Coca-Cola bottle and perform a shake.", + "Shake the red-capped bottle after lifting it.", + "Hold the plastic drink bottle with the left arm and shake lightly.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Hold the plastic drink bottle steady, then shake it.", + "Hold the smooth bottle with red lid and shake it properly.", + "Use the left arm to grab the brown bottle with red label and shake properly.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Grab the dark drink bottle with logo carefully and shake.", + "Grab the long thin bottle using the left arm, then shake.", + "Grab the long thin bottle and shake it steadily.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Pick up the dark drink bottle with logo and shake it.", + "Using the left arm, shake the long thin bottle and then place it back.", + "Grab and shake the bottle with white neck and red top using the left arm.", + "Lift the Coca-Cola bottle and shake it gently.", + "Lift up the red-capped bottle using the left arm, then shake.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Shake the bottle with white neck and red top after grabbing it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Utilize the left arm to hold the Coca-Cola bottle and shake it.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Pick the bottle with white neck and red top up with the left arm and shake.", + "Grip the dark drink bottle with logo using the left arm and shake.", + "Grab the red-capped bottle and move it to shake.", + "Lift the red-capped bottle with the left arm and shake.", + "Secure the red-capped bottle, shake it, and place it down.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Use the left arm to pick and shake the plastic drink bottle.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Pick up the red-capped bottle and shake it well.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Take the hand-sized soda bottle using the left arm and give it a shake.", + "Lift the bottle with ridges on bottom with the left arm and shake it.", + "Grab the bottle with white neck and red top with the left arm and shake.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Grab the hand-sized soda bottle and give it a shake.", + "Use the left arm to lift and shake the long thin bottle.", + "Shake the long thin bottle after grabbing it.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Use the left arm to hold the long thin bottle and shake it.", + "Shake the the brown bottle with red label properly after lifting.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Secure the long thin bottle and perform a shake.", + "Shake the bottle with ridges on bottom after lifting it.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Lift the brown bottle with red label with the left arm and give it a shake.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Hold the hand-sized soda bottle and shake it properly.", + "Use the left arm to grab the red-capped bottle and shake properly.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Grab the plastic drink bottle carefully and shake.", + "Grab the dark drink bottle with logo using the left arm, then shake.", + "Grab the plastic drink bottle and shake it steadily.", + "Catch the brown bottle with red label and shake it instantly.", + "Pick up the medium dark brown bottle and shake it.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "Grab and shake the medium dark brown bottle using the left arm.", + "Lift the bottle with white neck and red top and shake it gently.", + "Lift up the brown bottle with red label using the left arm, then shake.", + "Use the left arm to lift and shake the red-capped bottle.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Shake the bottle with white neck and red top after grabbing it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Grasp the bottle with ridges on bottom with the left arm and shake it.", + "Pick the medium dark brown bottle up with the left arm and shake." + ], + "unseen": [ + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode228.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode228.json new file mode 100644 index 0000000000000000000000000000000000000000..9e27be40757e335abc7fe1c87835d56b5c7a2627 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode228.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the right arm, shake the Coca-Cola bottle and then place it back.", + "Use the right arm to grab the long thin bottle and shake properly.", + "Grab and shake the Coca-Cola bottle using the right arm.", + "Grip the smooth bottle with red lid using the right arm and shake.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Shake the medium dark brown bottle after holding it firmly.", + "Pick the Coca-Cola bottle up using the right arm and shake it.", + "Grab the long thin bottle and give it a shake.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Pick up the Coca-Cola bottle and shake it.", + "Use the right arm to hold the medium dark brown bottle and shake it.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Take the brown bottle with red label using the right arm and give it a shake.", + "Grab the medium dark brown bottle and shake it steadily.", + "With the right arm, pick the bottle with ridges on bottom and shake properly.", + "Utilize the right arm to hold the plastic drink bottle and shake it.", + "Use the right arm to pick and shake the narrow-necked bottle.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Grab the hand-sized soda bottle and move it to shake.", + "Shake the red-capped bottle firmly after grabbing.", + "Pick the dark drink bottle with logo, shake it with the right arm.", + "Shake the smooth bottle with red lid after grabbing it.", + "Use the right arm to grab the red-capped bottle and shake it.", + "Pick the hand-sized soda bottle up with the right arm and shake.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Lift the bottle with white neck and red top with the right arm and shake.", + "Lift the plastic drink bottle and shake it gently.", + "Lift the medium dark brown bottle with the right arm and shake it.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Shake the brown bottle with red label after grabbing it.", + "Lift the hand-sized soda bottle with the right arm and give it a shake.", + "Grab the smooth bottle with red lid with the right arm and shake.", + "Grab the hand-sized soda bottle using the right arm, then shake.", + "Grab the dark drink bottle with logo carefully and shake.", + "Shake the plastic drink bottle after lifting it.", + "Hold the long thin bottle and shake it properly.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Secure the narrow-necked bottle and perform a shake.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Hold the brown bottle with red label with the right arm and shake lightly.", + "Shake the smooth bottle with red lid using the right arm after grabbing.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Catch the medium dark brown bottle and shake it instantly.", + "Lift up the plastic drink bottle using the right arm, then shake.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Grasp the Coca-Cola bottle with the right arm and shake it.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Using the right arm, shake the red-capped bottle and then place it back.", + "Use the right arm to grab the bottle with white neck and red top and shake properly.", + "Grab and shake the bottle with ridges on bottom using the right arm.", + "Grip the hand-sized soda bottle using the right arm and shake.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Shake the narrow-necked bottle after holding it firmly.", + "Pick the dark drink bottle with logo up using the right arm and shake it.", + "Grab the dark drink bottle with logo and give it a shake.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Pick up the plastic drink bottle and shake it.", + "Use the right arm to hold the long thin bottle and shake it.", + "Use the right arm to lift and shake the red-capped bottle.", + "Take the narrow-necked bottle using the right arm and give it a shake.", + "Grab the long thin bottle and shake it steadily.", + "With the right arm, pick the bottle with ridges on bottom and shake properly.", + "Utilize the right arm to hold the smooth bottle with red lid and shake it.", + "Use the right arm to pick and shake the dark drink bottle with logo.", + "Secure the long thin bottle, shake it, and place it down.", + "Grab the dark drink bottle with logo and move it to shake.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the right arm to grab the narrow-necked bottle and shake it.", + "Pick the smooth bottle with red lid up with the right arm and shake.", + "Hold and shake the the narrow-necked bottle carefully.", + "Lift the Coca-Cola bottle with the right arm and shake.", + "Lift the hand-sized soda bottle and shake it gently.", + "Lift the hand-sized soda bottle with the right arm and shake it.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Shake the bottle with white neck and red top after grabbing it.", + "Shake the narrow-necked bottle after grabbing it.", + "Lift the Coca-Cola bottle with the right arm and give it a shake.", + "Grab the smooth bottle with red lid with the right arm and shake.", + "Grab the bottle with ridges on bottom using the right arm, then shake.", + "Grab the smooth bottle with red lid carefully and shake.", + "Shake the long thin bottle after lifting it.", + "Hold the smooth bottle with red lid and shake it properly.", + "Pick the plastic drink bottle and perform shaking motion.", + "Secure the dark drink bottle with logo and perform a shake.", + "Pick up the red-capped bottle and shake it well.", + "Hold the Coca-Cola bottle with the right arm and shake lightly.", + "Shake the narrow-necked bottle using the right arm after grabbing.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Lift up the Coca-Cola bottle using the right arm, then shake.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Grasp the long thin bottle with the right arm and shake it.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Hold the red-capped bottle steady, then shake it." + ], + "unseen": [ + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode229.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode229.json new file mode 100644 index 0000000000000000000000000000000000000000..b11cc6be642dc0c82a9177a6f0ed9d19d0fbe3d0 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode229.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the bottle with white neck and red top and shake it.", + "Lift the dark drink bottle with logo with the right arm and shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Use the right arm to pick and shake the bottle with white neck and red top.", + "Shake the plastic drink bottle after grabbing it.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Pick the long thin bottle and perform shaking motion.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Secure the bottle with white neck and red top and perform a shake.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Pick the bottle with ridges on bottom, shake it with the right arm.", + "Shake the plastic drink bottle after grabbing it.", + "Use the right arm to grab the medium dark brown bottle and shake properly.", + "Lift the red-capped bottle with the right arm and shake it.", + "Grab the long thin bottle and give it a shake.", + "Shake the red-capped bottle after lifting it.", + "Lift up the smooth bottle with red lid using the right arm, then shake.", + "Use the right arm to hold the smooth bottle with red lid and shake it.", + "Grasp the narrow-necked bottle with the right arm and shake it.", + "With the right arm, pick the hand-sized soda bottle and shake properly.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Grab the dark drink bottle with logo using the right arm, then shake.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Lift the dark drink bottle with logo and shake it gently.", + "Using the right arm, shake the red-capped bottle and then place it back.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Utilize the right arm to hold the plastic drink bottle and shake it.", + "Grab and shake the plastic drink bottle using the right arm.", + "Pick the long thin bottle up with the right arm and shake.", + "Hold the long thin bottle and shake it properly.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Grip the hand-sized soda bottle using the right arm and shake.", + "Lift the red-capped bottle with the right arm and give it a shake.", + "Grab the brown bottle with red label carefully and shake.", + "Pick up the bottle with ridges on bottom and shake it.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Pick the smooth bottle with red lid up using the right arm and shake it.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Hold the narrow-necked bottle with the right arm and shake lightly.", + "Catch the plastic drink bottle and shake it instantly.", + "Grab the narrow-necked bottle with the right arm and shake.", + "Take the medium dark brown bottle using the right arm and give it a shake.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Shake the dark drink bottle with logo using the right arm after grabbing.", + "Shake the medium dark brown bottle after holding it firmly.", + "Use the right arm to lift and shake the red-capped bottle.", + "Use the right arm to grab the hand-sized soda bottle and shake it.", + "Lift the bottle with white neck and red top with the right arm and shake.", + "Shake the long thin bottle after grabbing it.", + "Use the right arm to pick and shake the smooth bottle with red lid.", + "Shake the narrow-necked bottle after grabbing it.", + "Shake the the plastic drink bottle properly after lifting.", + "Pick the plastic drink bottle and perform shaking motion.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Secure the plastic drink bottle and perform a shake.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Pick the smooth bottle with red lid, shake it with the right arm.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the right arm to grab the red-capped bottle and shake properly.", + "Lift the hand-sized soda bottle with the right arm and shake it.", + "Grab the smooth bottle with red lid and give it a shake.", + "Shake the Coca-Cola bottle after lifting it.", + "Lift up the bottle with ridges on bottom using the right arm, then shake.", + "Use the right arm to hold the narrow-necked bottle and shake it.", + "Grasp the long thin bottle with the right arm and shake it.", + "With the right arm, pick the medium dark brown bottle and shake properly.", + "Grab the plastic drink bottle and shake it steadily.", + "Hold and shake the the long thin bottle carefully.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Grab the brown bottle with red label using the right arm, then shake.", + "Grab the bottle with white neck and red top and move it to shake.", + "Lift the smooth bottle with red lid and shake it gently.", + "Using the right arm, shake the red-capped bottle and then place it back.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Utilize the right arm to hold the smooth bottle with red lid and shake it.", + "Grab and shake the brown bottle with red label using the right arm.", + "Pick the dark drink bottle with logo up with the right arm and shake.", + "Hold the dark drink bottle with logo and shake it properly.", + "Pick up the Coca-Cola bottle and shake it well.", + "Grip the red-capped bottle using the right arm and shake.", + "Lift the bottle with white neck and red top with the right arm and give it a shake.", + "Grab the long thin bottle carefully and shake.", + "Pick up the smooth bottle with red lid and shake it.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Pick the Coca-Cola bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Hold the bottle with white neck and red top with the right arm and shake lightly.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Grab the hand-sized soda bottle with the right arm and shake.", + "Take the narrow-necked bottle using the right arm and give it a shake.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Shake the Coca-Cola bottle using the right arm after grabbing.", + "Shake the narrow-necked bottle after holding it firmly.", + "Use the right arm to lift and shake the plastic drink bottle." + ], + "unseen": [ + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode23.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..9bc27f2b00a79836bd524113fa8dc0718e9fbc97 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Utilize the left arm to hold the Coca-Cola bottle and shake it.", + "Hold the brown bottle with red label, shake it briefly.", + "Use the left arm to pick and shake the long thin bottle.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Lift the brown bottle with red label with the left arm and shake.", + "Hold the plastic drink bottle steady, then shake it.", + "Shake the red-capped bottle after grabbing it.", + "Hold the long thin bottle and shake it properly.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Shake the red-capped bottle after lifting it.", + "Grab the plastic drink bottle using the left arm, then shake.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Shake the red-capped bottle firmly after grabbing.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Grab the long thin bottle and give it a shake.", + "Lift up the bottle with white neck and red top using the left arm, then shake.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Lift the bottle with white neck and red top with the left arm and shake it.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Pick up the hand-sized soda bottle and shake it.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Grab and shake the bottle with white neck and red top using the left arm.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Secure the smooth bottle with red lid and perform a shake.", + "Shake the long thin bottle after grabbing it.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Grab the plastic drink bottle and move it to shake.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Grab the hand-sized soda bottle carefully and shake.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Shake the bottle with white neck and red top after grabbing it.", + "Grip the dark drink bottle with logo using the left arm and shake.", + "Pick up the bottle with white neck and red top and shake it well.", + "Use the left arm to grab the long thin bottle and shake it.", + "Grab the Coca-Cola bottle with the left arm and shake.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Shake the the medium dark brown bottle properly after lifting.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Lift the plastic drink bottle and shake it gently.", + "Pick the smooth bottle with red lid, shake it with the left arm.", + "Use the left arm to hold the red-capped bottle and shake it.", + "Use the left arm to grab the bottle with ridges on bottom and shake properly.", + "Catch the narrow-necked bottle and shake it instantly.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Grab the long thin bottle and shake it steadily.", + "Utilize the left arm to hold the brown bottle with red label and shake it.", + "Hold the medium dark brown bottle, shake it briefly.", + "Use the left arm to pick and shake the Coca-Cola bottle.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Hold the Coca-Cola bottle and shake it properly.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Shake the Coca-Cola bottle after lifting it.", + "Grab the long thin bottle using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Grasp the medium dark brown bottle with the left arm and shake it.", + "Grab the medium dark brown bottle and give it a shake.", + "Lift up the dark drink bottle with logo using the left arm, then shake.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Take the Coca-Cola bottle using the left arm and give it a shake.", + "Lift the dark drink bottle with logo with the left arm and shake it.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Pick up the red-capped bottle and shake it.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Grab and shake the plastic drink bottle using the left arm.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Secure the medium dark brown bottle and perform a shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Grab the dark drink bottle with logo and move it to shake.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Grab the smooth bottle with red lid carefully and shake.", + "With the left arm, pick the plastic drink bottle and shake properly.", + "Shake the long thin bottle after grabbing it.", + "Grip the bottle with ridges on bottom using the left arm and shake.", + "Pick up the plastic drink bottle and shake it well.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Grab the long thin bottle with the left arm and shake.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Pick the dark drink bottle with logo up with the left arm and shake.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Lift the plastic drink bottle and shake it gently.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Use the left arm to hold the narrow-necked bottle and shake it.", + "Use the left arm to grab the long thin bottle and shake properly.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Grab the narrow-necked bottle and shake it steadily." + ], + "unseen": [ + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode230.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode230.json new file mode 100644 index 0000000000000000000000000000000000000000..d90be1d5df994692bb28cbae9bcc083bf17b083b --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode230.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to hold the medium green bottle and shake it.", + "Pick up the smooth green bottle and shake it well.", + "Use the left arm to grab the smooth green bottle and shake properly.", + "Use the left arm to grab the medium green bottle with capped neck and shake it.", + "Grip the plastic bottle using the left arm and shake.", + "Lift up the medium green bottle using the left arm, then shake.", + "Grab the bottle with rounded neck and shake it steadily.", + "Hold and shake the the bottle with white printed label carefully.", + "Shake the medium green bottle firmly after grabbing.", + "Hold the medium green bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Pick the plastic bottle and perform shaking motion.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Secure the bottle with rounded neck and perform a shake.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Hold the bottle with ridges near base steady, then shake it.", + "Shake the medium green bottle after grabbing it.", + "Pick the green bottle with indented base, shake it with the left arm.", + "Lift the smooth green bottle with the left arm and shake it.", + "Shake the smooth green bottle after lifting it.", + "Grab the green bottle with indented base with the left arm and shake.", + "Lift the smooth green plastic bottle and shake it gently.", + "Grab the bottle with narrow top and give it a shake.", + "Hold the smooth green bottle and shake it properly.", + "Pick up the medium green bottle and shake it.", + "Grab the smooth green bottle using the left arm, then shake.", + "Grab the green bottle with indented base and move it to shake.", + "Use the left arm to lift and shake the handheld green bottle.", + "Shake the the green bottle with indented base properly after lifting.", + "With the left arm, pick the green bottle with indented base and shake properly.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Pick the bottle with narrow top up with the left arm and shake.", + "Use the left arm to pick and shake the handheld green bottle.", + "Utilize the left arm to hold the bottle with ridges near base and shake it.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Grasp the green bottle with indented base with the left arm and shake it.", + "Pick the bottle with narrow top up using the left arm and shake it.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Take the bottle with narrow top using the left arm and give it a shake.", + "Lift the medium green bottle with the left arm and shake.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Hold the bottle with narrow top, shake it briefly.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Grab the bottle with white printed label carefully and shake.", + "Lift the green bottle with indented base with the left arm and give it a shake.", + "Shake the smooth green plastic bottle after grabbing it.", + "Secure the smooth green bottle, shake it, and place it down.", + "Grab and shake the green bottle with indented base using the left arm.", + "Shake the smooth green plastic bottle after grabbing it.", + "Shake the bottle with narrow top using the left arm after grabbing.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Pick up the smooth green bottle and shake it well.", + "Use the left arm to grab the green bottle with indented base and shake properly.", + "Use the left arm to grab the plastic bottle and shake it.", + "Grip the green bottle with indented base using the left arm and shake.", + "Lift up the handheld green bottle using the left arm, then shake.", + "Grab the bottle with narrow top and shake it steadily.", + "Hold and shake the the handheld green bottle carefully.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Hold the medium green bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the plastic bottle.", + "Pick the bottle with white printed label and perform shaking motion.", + "Using the left arm, shake the smooth green plastic bottle and then place it back.", + "Secure the bottle with rounded neck and perform a shake.", + "Shake the bottle with ridges near base after holding it firmly.", + "Hold the bottle with white printed label steady, then shake it.", + "Shake the bottle with narrow top after grabbing it.", + "Pick the medium green bottle, shake it with the left arm.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Shake the plastic bottle after lifting it.", + "Grab the bottle with narrow top with the left arm and shake.", + "Lift the plastic bottle and shake it gently.", + "Grab the green bottle with indented base and give it a shake.", + "Hold the plastic bottle and shake it properly.", + "Pick up the bottle with rounded neck and shake it.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Grab the bottle with white printed label and move it to shake.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Shake the the smooth green plastic bottle properly after lifting.", + "With the left arm, pick the smooth green plastic bottle and shake properly.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Pick the plastic bottle up with the left arm and shake.", + "Use the left arm to pick and shake the handheld green bottle.", + "Utilize the left arm to hold the medium-sized green bottle and shake it.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Grasp the bottle with ridges near base with the left arm and shake it.", + "Pick the bottle with ridges near base up using the left arm and shake it.", + "Catch the bottle with narrow top and shake it instantly.", + "Take the bottle with ridges near base using the left arm and give it a shake.", + "Lift the green bottle with indented base with the left arm and shake.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Hold the green bottle with indented base, shake it briefly.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Grab the bottle with ridges near base carefully and shake.", + "Lift the medium-sized green bottle with the left arm and give it a shake.", + "Shake the handheld green bottle after grabbing it.", + "Secure the medium green bottle, shake it, and place it down.", + "Grab and shake the medium green bottle using the left arm.", + "Shake the smooth green bottle after grabbing it.", + "Shake the medium green bottle using the left arm after grabbing." + ], + "unseen": [ + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode231.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode231.json new file mode 100644 index 0000000000000000000000000000000000000000..1369e973e7abe5594708b99f35734e27fc8dfa96 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode231.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the plastic bottle and shake it instantly.", + "Secure the medium-sized green bottle and perform a shake.", + "Shake the smooth green plastic bottle after lifting it.", + "Grab the smooth green bottle using the left arm, then shake.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Grab the bottle with white printed label with the left arm and shake.", + "Use the left arm to grab the bottle with narrow top and shake properly.", + "Pick up the handheld green bottle and shake it.", + "Use the left arm to grab the smooth green bottle and shake it.", + "Utilize the left arm to hold the bottle with ridges near base and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Pick the bottle with white printed label up with the left arm and shake.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Use the left arm to hold the bottle with white printed label and shake it.", + "Hold the bottle with white printed label and shake it properly.", + "Grasp the bottle with narrow top with the left arm and shake it.", + "Use the left arm to pick and shake the handheld green bottle.", + "Shake the smooth green bottle after grabbing it.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Use the left arm to lift and shake the medium green bottle.", + "Pick the bottle with ridges near base, shake it with the left arm.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Pick up the plastic bottle and shake it well.", + "Shake the handheld green bottle using the left arm after grabbing.", + "Lift the smooth green bottle with the left arm and shake it.", + "Grab the smooth green plastic bottle and move it to shake.", + "Using the left arm, shake the medium green bottle with capped neck and then place it back.", + "With the left arm, pick the green bottle with indented base and shake properly.", + "Shake the green bottle with indented base firmly after grabbing.", + "Grab the medium-sized green bottle and shake it steadily.", + "Lift the medium-sized green bottle with the left arm and give it a shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Hold the smooth green bottle, shake it briefly.", + "Take the smooth green plastic bottle using the left arm and give it a shake.", + "Hold and shake the the bottle with narrow top carefully.", + "Grab and shake the bottle with rounded neck using the left arm.", + "Lift the bottle with narrow top with the left arm and shake.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Grab the smooth green bottle and give it a shake.", + "Grip the medium green bottle using the left arm and shake.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Shake the the green bottle with indented base properly after lifting.", + "Hold the smooth green bottle with the left arm and shake lightly.", + "Lift the smooth green bottle and shake it gently.", + "Grab the bottle with narrow top carefully and shake.", + "Shake the medium green bottle after holding it firmly.", + "Lift up the bottle with white printed label using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Pick the bottle with rounded neck up using the left arm and shake it.", + "Catch the smooth green bottle and shake it instantly.", + "Secure the bottle with rounded neck and perform a shake.", + "Shake the medium green bottle with capped neck after lifting it.", + "Grab the bottle with rounded neck using the left arm, then shake.", + "Hold the bottle with ridges near base steady, then shake it.", + "Grab the medium green bottle with capped neck with the left arm and shake.", + "Use the left arm to grab the handheld green bottle and shake properly.", + "Pick up the medium green bottle and shake it.", + "Use the left arm to grab the medium-sized green bottle and shake it.", + "Utilize the left arm to hold the medium-sized green bottle and shake it.", + "Shake the smooth green bottle after grabbing it.", + "Pick the bottle with rounded neck up with the left arm and shake.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Hold the bottle with rounded neck and shake it properly.", + "Grasp the bottle with narrow top with the left arm and shake it.", + "Use the left arm to pick and shake the smooth green bottle.", + "Shake the bottle with white printed label after grabbing it.", + "Use the left arm to lift and shake the plastic bottle.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Pick the green bottle with indented base, shake it with the left arm.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Pick up the green bottle with indented base and shake it well.", + "Shake the medium-sized green bottle using the left arm after grabbing.", + "Lift the bottle with white printed label with the left arm and shake it.", + "Grab the green bottle with indented base and move it to shake.", + "Using the left arm, shake the handheld green bottle and then place it back.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Grab the medium-sized green bottle and shake it steadily.", + "Lift the bottle with rounded neck with the left arm and give it a shake.", + "Shake the medium green bottle after grabbing it.", + "Hold the bottle with rounded neck, shake it briefly.", + "Take the bottle with narrow top using the left arm and give it a shake.", + "Hold and shake the the green bottle with indented base carefully.", + "Grab and shake the green bottle with indented base using the left arm.", + "Lift the smooth green plastic bottle with the left arm and shake.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Grab the handheld green bottle and give it a shake.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Shake the the bottle with white printed label properly after lifting.", + "Hold the handheld green bottle with the left arm and shake lightly.", + "Lift the bottle with narrow top and shake it gently.", + "Grab the bottle with ridges near base carefully and shake.", + "Shake the bottle with ridges near base after holding it firmly.", + "Lift up the bottle with ridges near base using the left arm, then shake.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Pick the plastic bottle up using the left arm and shake it." + ], + "unseen": [ + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode232.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode232.json new file mode 100644 index 0000000000000000000000000000000000000000..4b358438b7afced5e4af68524c1497d32cf292a5 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode232.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with white printed label using the left arm, then shake.", + "Grip the medium green bottle with capped neck using the left arm and shake.", + "Lift up the bottle with narrow top using the left arm, then shake.", + "Grab and shake the bottle with ridges near base using the left arm.", + "Hold the bottle with rounded neck with the left arm and shake lightly.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Shake the the bottle with narrow top properly after lifting.", + "Shake the plastic bottle after grabbing it.", + "Grab the smooth green bottle with the left arm and shake.", + "Using the left arm, shake the bottle with ridges near base and then place it back.", + "Shake the bottle with ridges near base after lifting it.", + "Use the left arm to lift and shake the smooth green bottle.", + "Pick the bottle with rounded neck up with the left arm and shake.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Grab the smooth green bottle carefully and shake.", + "Lift the medium green bottle with the left arm and shake it.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Use the left arm to pick and shake the medium green bottle with capped neck.", + "Grab the bottle with narrow top and move it to shake.", + "Pick up the smooth green bottle and shake it well.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Shake the bottle with rounded neck after holding it firmly.", + "Take the bottle with white printed label using the left arm and give it a shake.", + "Pick up the bottle with rounded neck and shake it.", + "Use the left arm to lift and shake the handheld green bottle.", + "Lift the plastic bottle and shake it gently.", + "Use the left arm to grab the medium green bottle and shake properly.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Hold and shake the the green bottle with indented base carefully.", + "Use the left arm to grab the handheld green bottle and shake it.", + "Grab the medium green bottle and give it a shake.", + "Grasp the bottle with ridges near base with the left arm and shake it.", + "Secure the bottle with rounded neck and perform a shake.", + "Hold the medium green bottle and shake it properly.", + "Grab the bottle with narrow top and shake it steadily.", + "Hold the smooth green bottle, shake it briefly.", + "Catch the bottle with ridges near base and shake it instantly.", + "Shake the green bottle with indented base using the left arm after grabbing.", + "Lift the bottle with ridges near base with the left arm and give it a shake.", + "Pick the green bottle with indented base and perform shaking motion.", + "Use the left arm to hold the smooth green plastic bottle and shake it.", + "Hold the smooth green bottle steady, then shake it.", + "Lift the bottle with rounded neck with the left arm and shake.", + "With the left arm, pick the bottle with white printed label and shake properly.", + "Pick the smooth green bottle up using the left arm and shake it.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Grip the bottle with white printed label using the left arm and shake.", + "Lift up the bottle with narrow top using the left arm, then shake.", + "Grab and shake the medium-sized green bottle using the left arm.", + "Hold the smooth green bottle with the left arm and shake lightly.", + "Pick the smooth green bottle, shake it with the left arm.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Shake the the bottle with ridges near base properly after lifting.", + "Shake the medium green bottle after grabbing it.", + "Grab the plastic bottle with the left arm and shake.", + "Using the left arm, shake the bottle with narrow top and then place it back.", + "Shake the bottle with ridges near base after lifting it.", + "Use the left arm to lift and shake the plastic bottle.", + "Pick the medium green bottle up with the left arm and shake.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the smooth green bottle.", + "Shake the bottle with rounded neck after grabbing it.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Grab the green bottle with indented base carefully and shake.", + "Lift the medium-sized green bottle with the left arm and shake it.", + "Utilize the left arm to hold the medium green bottle with capped neck and shake it.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to pick and shake the plastic bottle.", + "Grab the smooth green bottle and move it to shake.", + "Pick up the bottle with rounded neck and shake it well.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Shake the bottle with narrow top after holding it firmly.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Pick up the bottle with white printed label and shake it.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Lift the smooth green bottle and shake it gently.", + "Use the left arm to grab the green bottle with indented base and shake properly.", + "Secure the plastic bottle, shake it, and place it down.", + "Hold and shake the the green bottle with indented base carefully.", + "Use the left arm to grab the medium green bottle and shake it.", + "Grab the medium green bottle and give it a shake.", + "Grasp the smooth green plastic bottle with the left arm and shake it.", + "Secure the bottle with white printed label and perform a shake.", + "Hold the medium green bottle and shake it properly.", + "Grab the green bottle with indented base and shake it steadily.", + "Hold the medium green bottle, shake it briefly.", + "Catch the bottle with rounded neck and shake it instantly.", + "Shake the bottle with rounded neck using the left arm after grabbing.", + "Lift the bottle with white printed label with the left arm and give it a shake.", + "Pick the green bottle with indented base and perform shaking motion.", + "Use the left arm to hold the smooth green plastic bottle and shake it.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Lift the medium green bottle with capped neck with the left arm and shake.", + "With the left arm, pick the medium green bottle with capped neck and shake properly.", + "Pick the smooth green bottle up using the left arm and shake it." + ], + "unseen": [ + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode233.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode233.json new file mode 100644 index 0000000000000000000000000000000000000000..5a722b1d60d8192d1b2b3217f20cc1f42d51f410 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode233.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Hold and shake the the handheld green bottle carefully.", + "Grab and shake the bottle with white printed label using the left arm.", + "Shake the medium green bottle after grabbing it.", + "Grab the bottle with white printed label carefully and shake.", + "Pick the bottle with narrow top and perform shaking motion.", + "Secure the smooth green bottle, shake it, and place it down.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Pick the medium-sized green bottle, shake it with the left arm.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Using the left arm, shake the smooth green plastic bottle and then place it back.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Shake the smooth green bottle firmly after grabbing.", + "Hold the green bottle with indented base with the left arm and shake lightly.", + "Pick the medium green bottle up with the left arm and shake.", + "Grab the handheld green bottle and shake it steadily.", + "Lift the bottle with white printed label with the left arm and give it a shake.", + "Use the left arm to grab the medium-sized green bottle and shake properly.", + "Utilize the left arm to hold the bottle with narrow top and shake it.", + "Secure the bottle with white printed label and perform a shake.", + "Lift the smooth green bottle with the left arm and shake it.", + "Shake the handheld green bottle after grabbing it.", + "Pick up the bottle with rounded neck and shake it.", + "With the left arm, pick the medium-sized green bottle and shake properly.", + "Pick up the medium-sized green bottle and shake it well.", + "Grasp the smooth green bottle with the left arm and shake it.", + "Lift up the medium-sized green bottle using the left arm, then shake.", + "Shake the medium green bottle after lifting it.", + "Grab the medium green bottle with capped neck with the left arm and shake.", + "Pick the bottle with narrow top up using the left arm and shake it.", + "Grab the bottle with white printed label and give it a shake.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Shake the bottle with rounded neck after holding it firmly.", + "Use the left arm to hold the handheld green bottle and shake it.", + "Hold the medium-sized green bottle steady, then shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Shake the the handheld green bottle properly after lifting.", + "Shake the plastic bottle using the left arm after grabbing.", + "Hold the medium green bottle and shake it properly.", + "Lift the green bottle with indented base and shake it gently.", + "Grip the medium-sized green bottle using the left arm and shake.", + "Grab the bottle with narrow top using the left arm, then shake.", + "Grab the bottle with narrow top and move it to shake.", + "Lift the medium-sized green bottle with the left arm and shake.", + "Use the left arm to lift and shake the handheld green bottle.", + "Hold the handheld green bottle, shake it briefly.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Catch the bottle with narrow top and shake it instantly.", + "Use the left arm to grab the bottle with white printed label and shake it.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Hold and shake the the green bottle with indented base carefully.", + "Grab and shake the bottle with rounded neck using the left arm.", + "Shake the smooth green bottle after grabbing it.", + "Grab the bottle with white printed label carefully and shake.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Secure the plastic bottle, shake it, and place it down.", + "Take the bottle with ridges near base using the left arm and give it a shake.", + "Pick the medium-sized green bottle, shake it with the left arm.", + "Use the left arm to pick and shake the bottle with ridges near base.", + "Using the left arm, shake the bottle with white printed label and then place it back.", + "Use the left arm to lift and shake the handheld green bottle.", + "Shake the green bottle with indented base firmly after grabbing.", + "Hold the handheld green bottle with the left arm and shake lightly.", + "Pick the bottle with narrow top up with the left arm and shake.", + "Grab the medium-sized green bottle and shake it steadily.", + "Lift the bottle with ridges near base with the left arm and give it a shake.", + "Use the left arm to grab the smooth green bottle and shake properly.", + "Utilize the left arm to hold the bottle with narrow top and shake it.", + "Secure the handheld green bottle and perform a shake.", + "Lift the medium green bottle with capped neck with the left arm and shake it.", + "Shake the plastic bottle after grabbing it.", + "Pick up the medium-sized green bottle and shake it.", + "With the left arm, pick the bottle with white printed label and shake properly.", + "Pick up the bottle with narrow top and shake it well.", + "Grasp the bottle with white printed label with the left arm and shake it.", + "Lift up the medium-sized green bottle using the left arm, then shake.", + "Shake the smooth green bottle after lifting it.", + "Grab the handheld green bottle with the left arm and shake.", + "Pick the bottle with narrow top up using the left arm and shake it.", + "Grab the plastic bottle and give it a shake.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Shake the medium green bottle after holding it firmly.", + "Use the left arm to hold the bottle with ridges near base and shake it.", + "Hold the medium green bottle steady, then shake it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Shake the the bottle with ridges near base properly after lifting.", + "Shake the medium green bottle using the left arm after grabbing.", + "Hold the handheld green bottle and shake it properly.", + "Lift the plastic bottle and shake it gently.", + "Grip the medium green bottle using the left arm and shake.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Grab the medium-sized green bottle and move it to shake.", + "Lift the bottle with ridges near base with the left arm and shake.", + "Use the left arm to lift and shake the handheld green bottle.", + "Hold the smooth green bottle, shake it briefly.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Catch the handheld green bottle and shake it instantly.", + "Use the left arm to grab the bottle with narrow top and shake it." + ], + "unseen": [ + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode234.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode234.json new file mode 100644 index 0000000000000000000000000000000000000000..7e734149fdc413bfafd336c1e8aefbb0f7317a6d --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode234.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with narrow top using the right arm after grabbing.", + "Pick the bottle with rounded neck, shake it with the right arm.", + "Hold the plastic bottle steady, then shake it.", + "Grab the medium green bottle with capped neck with the right arm and shake.", + "Lift the smooth green bottle with the right arm and shake.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Grab and shake the smooth green bottle using the right arm.", + "Grab the smooth green bottle using the right arm, then shake.", + "Hold the bottle with white printed label, shake it briefly.", + "Shake the green bottle with indented base after grabbing it.", + "Pick the bottle with rounded neck up with the right arm and shake.", + "Grab the green bottle with indented base carefully and shake.", + "Lift the bottle with ridges near base with the right arm and shake it.", + "Pick the handheld green bottle up using the right arm and shake it.", + "Shake the the bottle with white printed label properly after lifting.", + "Use the right arm to pick and shake the medium green bottle.", + "Grab the bottle with rounded neck and move it to shake.", + "Grasp the plastic bottle with the right arm and shake it.", + "Pick the bottle with white printed label and perform shaking motion.", + "Using the right arm, shake the green bottle with indented base and then place it back.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Shake the handheld green bottle after lifting it.", + "Shake the bottle with white printed label firmly after grabbing.", + "Shake the plastic bottle after holding it firmly.", + "Pick up the handheld green bottle and shake it well.", + "Catch the medium green bottle and shake it instantly.", + "Lift the handheld green bottle and shake it gently.", + "Lift up the handheld green bottle using the right arm, then shake.", + "Utilize the right arm to hold the handheld green bottle and shake it.", + "Use the right arm to grab the handheld green bottle and shake properly.", + "With the right arm, pick the smooth green plastic bottle and shake properly.", + "Use the right arm to hold the smooth green bottle and shake it.", + "Hold the smooth green plastic bottle and shake it properly.", + "Use the right arm to grab the smooth green plastic bottle and shake it.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Grip the medium green bottle with capped neck using the right arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Lift the smooth green plastic bottle with the right arm and give it a shake.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Take the bottle with ridges near base using the right arm and give it a shake.", + "Pick up the bottle with white printed label and shake it.", + "Hold the smooth green bottle with the right arm and shake lightly.", + "Hold and shake the the medium-sized green bottle carefully.", + "Grab the bottle with rounded neck and shake it steadily.", + "Grab the smooth green bottle and give it a shake.", + "Shake the bottle with narrow top after grabbing it.", + "Lift the plastic bottle and shake it thoroughly.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Shake the bottle with narrow top using the right arm after grabbing.", + "Pick the green bottle with indented base, shake it with the right arm.", + "Hold the green bottle with indented base steady, then shake it.", + "Grab the smooth green bottle with the right arm and shake.", + "Lift the handheld green bottle with the right arm and shake.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Grab and shake the bottle with narrow top using the right arm.", + "Grab the bottle with rounded neck using the right arm, then shake.", + "Hold the bottle with narrow top, shake it briefly.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Pick the smooth green bottle up with the right arm and shake.", + "Grab the bottle with rounded neck carefully and shake.", + "Lift the medium-sized green bottle with the right arm and shake it.", + "Pick the green bottle with indented base up using the right arm and shake it.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Use the right arm to pick and shake the bottle with narrow top.", + "Grab the green bottle with indented base and move it to shake.", + "Grasp the medium-sized green bottle with the right arm and shake it.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Use the right arm to lift and shake the plastic bottle.", + "Shake the medium green bottle with capped neck after lifting it.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Pick up the bottle with white printed label and shake it well.", + "Catch the bottle with rounded neck and shake it instantly.", + "Lift the plastic bottle and shake it gently.", + "Lift up the plastic bottle using the right arm, then shake.", + "Utilize the right arm to hold the smooth green plastic bottle and shake it.", + "Use the right arm to grab the smooth green bottle and shake properly.", + "With the right arm, pick the medium-sized green bottle and shake properly.", + "Use the right arm to hold the bottle with rounded neck and shake it.", + "Hold the medium green bottle and shake it properly.", + "Use the right arm to grab the smooth green bottle and shake it.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Grip the bottle with ridges near base using the right arm and shake.", + "Shake the handheld green bottle after grabbing it.", + "Lift the medium green bottle with the right arm and give it a shake.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Take the bottle with ridges near base using the right arm and give it a shake.", + "Pick up the bottle with ridges near base and shake it.", + "Hold the smooth green plastic bottle with the right arm and shake lightly.", + "Hold and shake the the bottle with white printed label carefully.", + "Grab the bottle with rounded neck and shake it steadily.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Shake the medium green bottle after grabbing it.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Secure the medium-sized green bottle and perform a shake." + ], + "unseen": [ + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode235.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode235.json new file mode 100644 index 0000000000000000000000000000000000000000..0d10b596e426a7bf626714cf79be85f358cbf5c8 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode235.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the plastic bottle and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Grip the medium green bottle with capped neck using the right arm and shake.", + "Pick the bottle with ridges near base up with the right arm and shake.", + "Utilize the right arm to hold the bottle with ridges near base and shake it.", + "Lift the smooth green plastic bottle with the right arm and give it a shake.", + "Take the bottle with rounded neck using the right arm and give it a shake.", + "Using the right arm, shake the smooth green plastic bottle and then place it back.", + "Use the right arm to lift and shake the smooth green bottle.", + "Pick up the bottle with ridges near base and shake it well.", + "Hold the bottle with ridges near base with the right arm and shake lightly.", + "Grab the smooth green bottle carefully and shake.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Shake the the handheld green bottle properly after lifting.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "With the right arm, pick the smooth green bottle and shake properly.", + "Shake the green bottle with indented base firmly after grabbing.", + "Grab the bottle with ridges near base with the right arm and shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Shake the smooth green bottle after holding it firmly.", + "Lift the bottle with ridges near base with the right arm and shake.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Use the right arm to pick and shake the bottle with narrow top.", + "Hold and shake the the plastic bottle carefully.", + "Pick the bottle with rounded neck, shake it with the right arm.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Shake the bottle with rounded neck after lifting it.", + "Secure the bottle with narrow top and perform a shake.", + "Use the right arm to grab the medium green bottle and shake properly.", + "Catch the handheld green bottle and shake it instantly.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "Shake the bottle with ridges near base using the right arm after grabbing.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Grab and shake the bottle with white printed label using the right arm.", + "Lift the smooth green bottle with the right arm and shake it.", + "Use the right arm to hold the bottle with rounded neck and shake it.", + "Pick the bottle with white printed label up using the right arm and shake it.", + "Lift the smooth green bottle and shake it gently.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Grab the bottle with rounded neck using the right arm, then shake.", + "Grab the medium green bottle and move it to shake.", + "Grasp the bottle with narrow top with the right arm and shake it.", + "Hold the smooth green bottle, shake it briefly.", + "Shake the bottle with narrow top after grabbing it.", + "Use the right arm to lift and shake the plastic bottle.", + "Hold the green bottle with indented base steady, then shake it.", + "Grab the handheld green bottle and give it a shake.", + "Lift up the smooth green bottle using the right arm, then shake.", + "Pick up the medium green bottle and shake it.", + "Shake the plastic bottle after grabbing it.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Grip the smooth green bottle using the right arm and shake.", + "Pick the plastic bottle up with the right arm and shake.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Lift the medium green bottle with capped neck with the right arm and give it a shake.", + "Take the bottle with rounded neck using the right arm and give it a shake.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Use the right arm to lift and shake the handheld green bottle.", + "Pick up the bottle with rounded neck and shake it well.", + "Hold the green bottle with indented base with the right arm and shake lightly.", + "Grab the plastic bottle carefully and shake.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Shake the the green bottle with indented base properly after lifting.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "With the right arm, pick the bottle with ridges near base and shake properly.", + "Shake the medium green bottle firmly after grabbing.", + "Grab the medium green bottle with the right arm and shake.", + "Shake the bottle with narrow top after grabbing it.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Lift the bottle with ridges near base with the right arm and shake.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Use the right arm to pick and shake the bottle with narrow top.", + "Hold and shake the the bottle with ridges near base carefully.", + "Pick the handheld green bottle, shake it with the right arm.", + "Pick the bottle with narrow top and perform shaking motion.", + "Shake the smooth green bottle after lifting it.", + "Secure the bottle with white printed label and perform a shake.", + "Use the right arm to grab the smooth green bottle and shake properly.", + "Catch the bottle with rounded neck and shake it instantly.", + "Hold the medium green bottle and shake it properly.", + "Use the right arm to grab the medium green bottle and shake it.", + "Shake the medium-sized green bottle using the right arm after grabbing.", + "Grab the bottle with narrow top and shake it steadily.", + "Grab and shake the medium-sized green bottle using the right arm.", + "Lift the medium green bottle with capped neck with the right arm and shake it.", + "Use the right arm to hold the bottle with narrow top and shake it.", + "Pick the handheld green bottle up using the right arm and shake it.", + "Lift the handheld green bottle and shake it gently.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Grab the bottle with narrow top using the right arm, then shake.", + "Grab the medium green bottle and move it to shake.", + "Grasp the smooth green plastic bottle with the right arm and shake it.", + "Hold the medium green bottle, shake it briefly.", + "Shake the green bottle with indented base after grabbing it.", + "Use the right arm to lift and shake the handheld green bottle.", + "Hold the medium-sized green bottle steady, then shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Lift up the bottle with ridges near base using the right arm, then shake." + ], + "unseen": [ + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode236.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode236.json new file mode 100644 index 0000000000000000000000000000000000000000..c389a5f0c650b2bcca5508fba2640d6edf19cfbe --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode236.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the smooth green plastic bottle with the right arm and shake lightly.", + "Shake the bottle with rounded neck after grabbing it.", + "Grab the bottle with rounded neck and shake it steadily.", + "Use the right arm to grab the bottle with white printed label and shake properly.", + "Grab the plastic bottle carefully and shake.", + "Use the right arm to grab the medium-sized green bottle and shake it.", + "Shake the bottle with white printed label after holding it firmly.", + "Pick the handheld green bottle and perform shaking motion.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Grasp the green bottle with indented base with the right arm and shake it.", + "Use the right arm to pick and shake the bottle with rounded neck.", + "Use the right arm to lift and shake the handheld green bottle.", + "Lift the plastic bottle and shake it gently.", + "Grab the plastic bottle with the right arm and shake.", + "With the right arm, pick the bottle with ridges near base and shake properly.", + "Pick the bottle with ridges near base up with the right arm and shake.", + "Pick the medium green bottle up using the right arm and shake it.", + "Lift the smooth green bottle and shake it thoroughly.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Grip the smooth green plastic bottle using the right arm and shake.", + "Grab the bottle with narrow top using the right arm, then shake.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Lift up the medium green bottle using the right arm, then shake.", + "Shake the medium-sized green bottle after lifting it.", + "Catch the handheld green bottle and shake it instantly.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Pick up the bottle with narrow top and shake it well.", + "Using the right arm, shake the bottle with ridges near base and then place it back.", + "Shake the the green bottle with indented base properly after lifting.", + "Utilize the right arm to hold the bottle with rounded neck and shake it.", + "Use the right arm to hold the bottle with white printed label and shake it.", + "Shake the bottle with ridges near base after grabbing it.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Secure the smooth green plastic bottle and perform a shake.", + "Hold the bottle with rounded neck and shake it properly.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Pick up the smooth green plastic bottle and shake it.", + "Lift the medium green bottle with the right arm and shake it.", + "Lift the bottle with ridges near base with the right arm and give it a shake.", + "Hold the plastic bottle steady, then shake it.", + "Pick the bottle with white printed label, shake it with the right arm.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Shake the green bottle with indented base using the right arm after grabbing.", + "Grab and shake the bottle with ridges near base using the right arm.", + "Hold the medium green bottle, shake it briefly.", + "Lift the smooth green bottle with the right arm and shake.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Take the bottle with narrow top using the right arm and give it a shake.", + "Shake the bottle with narrow top after grabbing it.", + "Hold the bottle with white printed label with the right arm and shake lightly.", + "Shake the bottle with white printed label after grabbing it.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Use the right arm to grab the medium green bottle and shake properly.", + "Grab the bottle with rounded neck carefully and shake.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "Shake the smooth green bottle after holding it firmly.", + "Pick the green bottle with indented base and perform shaking motion.", + "Use the right arm to lift and shake the handheld green bottle.", + "Grasp the smooth green plastic bottle with the right arm and shake it.", + "Use the right arm to pick and shake the green bottle with indented base.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Lift the medium-sized green bottle and shake it gently.", + "Grab the bottle with ridges near base with the right arm and shake.", + "With the right arm, pick the bottle with white printed label and shake properly.", + "Pick the handheld green bottle up with the right arm and shake.", + "Pick the green bottle with indented base up using the right arm and shake it.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Grip the medium-sized green bottle using the right arm and shake.", + "Grab the smooth green plastic bottle using the right arm, then shake.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Lift up the green bottle with indented base using the right arm, then shake.", + "Shake the medium green bottle with capped neck after lifting it.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Grab the plastic bottle and move it to shake.", + "Pick up the smooth green plastic bottle and shake it well.", + "Using the right arm, shake the medium green bottle and then place it back.", + "Shake the the smooth green bottle properly after lifting.", + "Utilize the right arm to hold the bottle with ridges near base and shake it.", + "Use the right arm to hold the green bottle with indented base and shake it.", + "Shake the bottle with rounded neck after grabbing it.", + "Shake the medium green bottle firmly after grabbing.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Pick up the smooth green bottle and shake it.", + "Lift the smooth green bottle with the right arm and shake it.", + "Lift the smooth green bottle with the right arm and give it a shake.", + "Hold the green bottle with indented base steady, then shake it.", + "Pick the bottle with narrow top, shake it with the right arm.", + "Grab the bottle with narrow top and give it a shake.", + "Shake the plastic bottle using the right arm after grabbing.", + "Grab and shake the bottle with rounded neck using the right arm.", + "Hold the bottle with ridges near base, shake it briefly.", + "Lift the green bottle with indented base with the right arm and shake.", + "Hold and shake the the plastic bottle carefully.", + "Take the smooth green plastic bottle using the right arm and give it a shake.", + "Shake the handheld green bottle after grabbing it." + ], + "unseen": [ + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green bottle and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode237.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode237.json new file mode 100644 index 0000000000000000000000000000000000000000..e6c9a50674bb35726d317eebd2949f045e253d8f --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode237.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the green bottle with indented base using the left arm and give it a shake.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Use the left arm to lift and shake the smooth green bottle.", + "Grasp the bottle with ridges near base with the left arm and shake it.", + "Lift the medium green bottle and shake it gently.", + "Pick up the handheld green bottle and shake it well.", + "Hold the bottle with rounded neck, shake it briefly.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake properly.", + "Lift the plastic bottle with the left arm and shake.", + "Shake the bottle with narrow top using the left arm after grabbing.", + "Grab the medium-sized green bottle and move it to shake.", + "Secure the smooth green plastic bottle and perform a shake.", + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Hold the bottle with ridges near base and shake it properly.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Pick the smooth green plastic bottle up with the left arm and shake.", + "Grab the smooth green bottle carefully and shake.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Lift up the smooth green bottle using the left arm, then shake.", + "Hold the green bottle with indented base steady, then shake it.", + "Grip the medium green bottle using the left arm and shake.", + "Shake the the medium-sized green bottle properly after lifting.", + "Lift the medium green bottle with the left arm and give it a shake.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Grab and shake the plastic bottle using the left arm.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Grab the bottle with rounded neck using the left arm, then shake.", + "Use the left arm to pick and shake the smooth green plastic bottle.", + "Pick the bottle with white printed label and perform shaking motion.", + "Use the left arm to grab the medium-sized green bottle and shake it.", + "Shake the bottle with rounded neck after grabbing it.", + "Use the left arm to lift and shake the handheld green bottle.", + "Secure the handheld green bottle, shake it, and place it down.", + "Grab the handheld green bottle with the left arm and shake.", + "Hold and shake the the bottle with rounded neck carefully.", + "Hold the bottle with ridges near base with the left arm and shake lightly.", + "Lift the medium-sized green bottle with the left arm and shake it.", + "Use the left arm to hold the bottle with rounded neck and shake it.", + "Grab the handheld green bottle and give it a shake.", + "With the left arm, pick the bottle with ridges near base and shake properly.", + "Shake the smooth green plastic bottle after grabbing it.", + "Catch the handheld green bottle and shake it instantly.", + "Pick up the smooth green bottle and shake it.", + "Shake the plastic bottle after grabbing it.", + "Grab the smooth green bottle and shake it steadily.", + "Shake the bottle with white printed label after holding it firmly.", + "Pick the bottle with ridges near base up using the left arm and shake it.", + "Shake the smooth green bottle after lifting it.", + "Using the left arm, shake the smooth green bottle and then place it back.", + "Take the medium green bottle using the left arm and give it a shake.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Grasp the plastic bottle with the left arm and shake it.", + "Lift the smooth green bottle and shake it gently.", + "Pick up the bottle with white printed label and shake it well.", + "Hold the smooth green bottle, shake it briefly.", + "Utilize the left arm to hold the smooth green bottle and shake it.", + "Use the left arm to grab the medium green bottle with capped neck and shake properly.", + "Lift the medium-sized green bottle with the left arm and shake.", + "Shake the medium green bottle using the left arm after grabbing.", + "Grab the medium green bottle and move it to shake.", + "Secure the smooth green plastic bottle and perform a shake.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Hold the smooth green bottle and shake it properly.", + "Pick the medium-sized green bottle, shake it with the left arm.", + "Pick the medium green bottle with capped neck up with the left arm and shake.", + "Grab the green bottle with indented base carefully and shake.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Lift up the plastic bottle using the left arm, then shake.", + "Hold the plastic bottle steady, then shake it.", + "Grip the bottle with ridges near base using the left arm and shake.", + "Shake the the medium green bottle properly after lifting.", + "Lift the bottle with ridges near base with the left arm and give it a shake.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Grab and shake the medium green bottle with capped neck using the left arm.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Grab the medium-sized green bottle using the left arm, then shake.", + "Use the left arm to pick and shake the bottle with ridges near base.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Use the left arm to grab the handheld green bottle and shake it.", + "Shake the smooth green bottle after grabbing it.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Grab the smooth green plastic bottle with the left arm and shake.", + "Hold and shake the the bottle with narrow top carefully.", + "Hold the smooth green plastic bottle with the left arm and shake lightly.", + "Lift the medium-sized green bottle with the left arm and shake it.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Grab the bottle with narrow top and give it a shake.", + "With the left arm, pick the plastic bottle and shake properly.", + "Shake the smooth green plastic bottle after grabbing it.", + "Catch the medium-sized green bottle and shake it instantly.", + "Pick up the smooth green plastic bottle and shake it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grab the smooth green bottle and shake it steadily.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Pick the medium green bottle up using the left arm and shake it.", + "Shake the smooth green plastic bottle after lifting it.", + "Using the left arm, shake the plastic bottle and then place it back." + ], + "unseen": [ + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode238.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode238.json new file mode 100644 index 0000000000000000000000000000000000000000..b1e625c072f6902591dc9791d5669f6685141236 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode238.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with narrow top firmly after grabbing.", + "Secure the medium green bottle and perform a shake.", + "Pick the smooth green plastic bottle up using the left arm and shake it.", + "With the left arm, pick the bottle with white printed label and shake properly.", + "Shake the bottle with white printed label using the left arm after grabbing.", + "Shake the bottle with ridges near base after lifting it.", + "Use the left arm to pick and shake the bottle with rounded neck.", + "Lift the medium-sized green bottle with the left arm and shake it.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Using the left arm, shake the bottle with white printed label and then place it back.", + "Shake the smooth green bottle after holding it firmly.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "Pick the medium-sized green bottle, shake it with the left arm.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Lift the medium-sized green bottle with the left arm and give it a shake.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Grab and shake the smooth green plastic bottle using the left arm.", + "Grab the medium-sized green bottle and give it a shake.", + "Grab the plastic bottle and move it to shake.", + "Take the bottle with white printed label using the left arm and give it a shake.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Shake the bottle with rounded neck after grabbing it.", + "Lift the bottle with rounded neck and shake it gently.", + "Hold the bottle with white printed label steady, then shake it.", + "Shake the medium-sized green bottle after grabbing it.", + "Hold the bottle with ridges near base and shake it properly.", + "Lift up the medium green bottle using the left arm, then shake.", + "Utilize the left arm to hold the smooth green bottle and shake it.", + "Lift the medium green bottle with capped neck with the left arm and shake.", + "Hold the green bottle with indented base, shake it briefly.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the handheld green bottle carefully and shake.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Grasp the smooth green bottle with the left arm and shake it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Use the left arm to hold the plastic bottle and shake it.", + "Pick the green bottle with indented base and perform shaking motion.", + "Grab the bottle with narrow top using the left arm, then shake.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Catch the medium green bottle and shake it instantly.", + "Use the left arm to lift and shake the medium green bottle.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Pick the green bottle with indented base up with the left arm and shake.", + "Grab the bottle with rounded neck and shake it steadily.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Use the left arm to grab the medium green bottle and shake it.", + "Grab the bottle with rounded neck with the left arm and shake.", + "Shake the bottle with white printed label firmly after grabbing.", + "Secure the bottle with rounded neck and perform a shake.", + "Pick the medium-sized green bottle up using the left arm and shake it.", + "With the left arm, pick the smooth green bottle and shake properly.", + "Shake the bottle with white printed label using the left arm after grabbing.", + "Shake the smooth green bottle after lifting it.", + "Use the left arm to pick and shake the medium green bottle.", + "Lift the smooth green bottle with the left arm and shake it.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Hold the green bottle with indented base with the left arm and shake lightly.", + "Using the left arm, shake the bottle with rounded neck and then place it back.", + "Shake the smooth green bottle after holding it firmly.", + "Grip the handheld green bottle using the left arm and shake.", + "Pick the smooth green bottle, shake it with the left arm.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Lift the smooth green bottle with the left arm and give it a shake.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Lift the handheld green bottle and shake it thoroughly.", + "Grab and shake the bottle with white printed label using the left arm.", + "Grab the bottle with rounded neck and give it a shake.", + "Grab the bottle with white printed label and move it to shake.", + "Take the bottle with narrow top using the left arm and give it a shake.", + "Hold and shake the the medium-sized green bottle carefully.", + "Shake the handheld green bottle after grabbing it.", + "Lift the medium-sized green bottle and shake it gently.", + "Hold the bottle with ridges near base steady, then shake it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Hold the green bottle with indented base and shake it properly.", + "Lift up the smooth green bottle using the left arm, then shake.", + "Utilize the left arm to hold the bottle with white printed label and shake it.", + "Lift the bottle with rounded neck with the left arm and shake.", + "Hold the bottle with white printed label, shake it briefly.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Pick up the green bottle with indented base and shake it.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Use the left arm to grab the medium-sized green bottle and shake properly.", + "Grasp the plastic bottle with the left arm and shake it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Use the left arm to hold the bottle with narrow top and shake it.", + "Pick the smooth green bottle and perform shaking motion.", + "Grab the bottle with white printed label using the left arm, then shake.", + "Shake the the bottle with narrow top properly after lifting.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Pick the smooth green bottle up with the left arm and shake.", + "Grab the handheld green bottle and shake it steadily.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Use the left arm to grab the bottle with rounded neck and shake it.", + "Grab the bottle with ridges near base with the left arm and shake." + ], + "unseen": [ + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode239.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode239.json new file mode 100644 index 0000000000000000000000000000000000000000..b42a9a96e7642fdff6326500a4df1f9937eb1d2f --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode239.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the handheld green bottle, shake it, and place it down.", + "Pick the handheld green bottle up with the right arm and shake.", + "Grab and shake the bottle with white printed label using the right arm.", + "Use the right arm to grab the smooth green plastic bottle and shake it.", + "Shake the medium-sized green bottle after grabbing it.", + "Lift up the handheld green bottle using the right arm, then shake.", + "Hold the plastic bottle, shake it briefly.", + "Secure the bottle with rounded neck and perform a shake.", + "Shake the medium green bottle with capped neck after lifting it.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Grip the bottle with white printed label using the right arm and shake.", + "Shake the the green bottle with indented base properly after lifting.", + "Hold the smooth green bottle steady, then shake it.", + "Grab the bottle with ridges near base with the right arm and shake.", + "Pick the plastic bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the smooth green bottle.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Use the right arm to grab the smooth green plastic bottle and shake properly.", + "Grab the medium green bottle and shake it steadily.", + "Grasp the bottle with ridges near base with the right arm and shake it.", + "Shake the handheld green bottle after grabbing it.", + "Pick the smooth green bottle and perform shaking motion.", + "Grab the handheld green bottle and move it to shake.", + "Catch the plastic bottle and shake it instantly.", + "Pick the green bottle with indented base, shake it with the right arm.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Hold the smooth green plastic bottle and shake it properly.", + "Lift the medium green bottle and shake it gently.", + "Use the right arm to lift and shake the smooth green bottle.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Shake the smooth green plastic bottle after grabbing it.", + "Using the right arm, shake the medium-sized green bottle and then place it back.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "With the right arm, pick the green bottle with indented base and shake properly.", + "Lift the green bottle with indented base with the right arm and shake it.", + "Utilize the right arm to hold the medium green bottle and shake it.", + "Grab the smooth green bottle carefully and shake.", + "Shake the green bottle with indented base after holding it firmly.", + "Shake the handheld green bottle using the right arm after grabbing.", + "Lift the medium green bottle with capped neck with the right arm and give it a shake.", + "Hold and shake the the bottle with rounded neck carefully.", + "Grab the bottle with narrow top using the right arm, then shake.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Use the right arm to pick and shake the smooth green plastic bottle.", + "Lift the bottle with narrow top with the right arm and shake.", + "Pick up the medium-sized green bottle and shake it.", + "Take the medium-sized green bottle using the right arm and give it a shake.", + "Pick up the bottle with narrow top and shake it well.", + "Hold the bottle with ridges near base with the right arm and shake lightly.", + "Use the right arm to hold the handheld green bottle and shake it.", + "Secure the handheld green bottle, shake it, and place it down.", + "Pick the handheld green bottle up with the right arm and shake.", + "Grab and shake the medium green bottle with capped neck using the right arm.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "Shake the bottle with white printed label after grabbing it.", + "Lift up the medium green bottle with capped neck using the right arm, then shake.", + "Hold the bottle with ridges near base, shake it briefly.", + "Secure the smooth green bottle and perform a shake.", + "Shake the medium green bottle with capped neck after lifting it.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Grip the bottle with ridges near base using the right arm and shake.", + "Shake the the bottle with white printed label properly after lifting.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Grab the smooth green bottle with the right arm and shake.", + "Pick the medium-sized green bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Grab the bottle with narrow top and give it a shake.", + "Use the right arm to grab the bottle with rounded neck and shake properly.", + "Grab the bottle with ridges near base and shake it steadily.", + "Grasp the bottle with white printed label with the right arm and shake it.", + "Shake the medium-sized green bottle after grabbing it.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Catch the bottle with rounded neck and shake it instantly.", + "Pick the bottle with ridges near base, shake it with the right arm.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Hold the medium-sized green bottle and shake it properly.", + "Lift the medium green bottle and shake it gently.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Shake the handheld green bottle after grabbing it.", + "Using the right arm, shake the medium-sized green bottle and then place it back.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "With the right arm, pick the medium-sized green bottle and shake properly.", + "Lift the bottle with white printed label with the right arm and shake it.", + "Utilize the right arm to hold the smooth green bottle and shake it.", + "Grab the medium-sized green bottle carefully and shake.", + "Shake the bottle with ridges near base after holding it firmly.", + "Shake the smooth green bottle using the right arm after grabbing.", + "Lift the bottle with rounded neck with the right arm and give it a shake.", + "Hold and shake the the bottle with rounded neck carefully.", + "Grab the medium-sized green bottle using the right arm, then shake.", + "Shake the plastic bottle firmly after grabbing.", + "Use the right arm to pick and shake the medium green bottle.", + "Lift the smooth green bottle with the right arm and shake.", + "Pick up the smooth green plastic bottle and shake it.", + "Take the medium green bottle using the right arm and give it a shake.", + "Pick up the plastic bottle and shake it well.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Use the right arm to hold the medium green bottle with capped neck and shake it." + ], + "unseen": [ + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode24.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..93cbf10b357fc96b07d0bbde80c28bf8acc2be1a --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and shake the the narrow-necked bottle carefully.", + "Grab and shake the narrow-necked bottle using the left arm.", + "Use the left arm to grab the brown bottle with red label and shake it.", + "Hold the dark drink bottle with logo and shake it properly.", + "Catch the medium dark brown bottle and shake it instantly.", + "Lift the bottle with white neck and red top and shake it gently.", + "Grab the red-capped bottle using the left arm, then shake.", + "Use the left arm to pick and shake the narrow-necked bottle.", + "Lift the narrow-necked bottle with the left arm and shake it.", + "Grab the smooth bottle with red lid and move it to shake.", + "Pick up the Coca-Cola bottle and shake it.", + "Take the bottle with white neck and red top using the left arm and give it a shake.", + "Grab the red-capped bottle with the left arm and shake.", + "Hold the red-capped bottle steady, then shake it.", + "Use the left arm to hold the narrow-necked bottle and shake it.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Use the left arm to lift and shake the red-capped bottle.", + "Grab the plastic drink bottle and shake it steadily.", + "Grab the brown bottle with red label and give it a shake.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Secure the hand-sized soda bottle and perform a shake.", + "Shake the narrow-necked bottle using the left arm after grabbing.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Hold the narrow-necked bottle, shake it briefly.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Shake the Coca-Cola bottle after grabbing it.", + "With the left arm, pick the medium dark brown bottle and shake properly.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Hold the brown bottle with red label with the left arm and shake lightly.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Pick the hand-sized soda bottle, shake it with the left arm.", + "Shake the brown bottle with red label after grabbing it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Lift up the red-capped bottle using the left arm, then shake.", + "Shake the long thin bottle after holding it firmly.", + "Grab the hand-sized soda bottle carefully and shake.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Shake the narrow-necked bottle after lifting it.", + "Pick the smooth bottle with red lid up using the left arm and shake it.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Pick the narrow-necked bottle up with the left arm and shake.", + "Pick up the medium dark brown bottle and shake it well.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Use the left arm to grab the bottle with ridges on bottom and shake it.", + "Hold the brown bottle with red label and shake it properly.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Lift the plastic drink bottle and shake it gently.", + "Grab the dark drink bottle with logo using the left arm, then shake.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Lift the bottle with white neck and red top with the left arm and shake it.", + "Grab the plastic drink bottle and move it to shake.", + "Pick up the bottle with ridges on bottom and shake it.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Hold the long thin bottle steady, then shake it.", + "Use the left arm to hold the brown bottle with red label and shake it.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Grab the bottle with white neck and red top and give it a shake.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Secure the Coca-Cola bottle and perform a shake.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "Lift the medium dark brown bottle with the left arm and give it a shake.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Shake the the long thin bottle properly after lifting.", + "Shake the bottle with white neck and red top after grabbing it.", + "With the left arm, pick the smooth bottle with red lid and shake properly.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Pick the plastic drink bottle and perform shaking motion.", + "Hold the brown bottle with red label with the left arm and shake lightly.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the medium dark brown bottle after grabbing it.", + "Grasp the hand-sized soda bottle with the left arm and shake it.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Lift up the plastic drink bottle using the left arm, then shake.", + "Shake the red-capped bottle after holding it firmly.", + "Grab the brown bottle with red label carefully and shake.", + "Utilize the left arm to hold the hand-sized soda bottle and shake it.", + "Shake the dark drink bottle with logo after lifting it.", + "Pick the dark drink bottle with logo up using the left arm and shake it.", + "Use the left arm to grab the plastic drink bottle and shake properly.", + "Pick the medium dark brown bottle up with the left arm and shake.", + "Pick up the brown bottle with red label and shake it well.", + "Grip the bottle with white neck and red top using the left arm and shake.", + "Shake the medium dark brown bottle thoroughly after grabbing it." + ], + "unseen": [ + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode240.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode240.json new file mode 100644 index 0000000000000000000000000000000000000000..6dc9ba01cd94104a8bc270c78070e51dfbf8a937 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode240.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with ridges near base with the left arm and shake.", + "Hold the smooth green plastic bottle and shake it properly.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Hold the medium green bottle steady, then shake it.", + "Pick the medium green bottle with capped neck up using the left arm and shake it.", + "Use the left arm to grab the medium green bottle and shake it.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Shake the handheld green bottle after lifting it.", + "Lift up the medium green bottle with capped neck using the left arm, then shake.", + "Hold the smooth green bottle with the left arm and shake lightly.", + "Take the smooth green plastic bottle using the left arm and give it a shake.", + "Hold and shake the the bottle with white printed label carefully.", + "Pick the bottle with white printed label and perform shaking motion.", + "With the left arm, pick the smooth green plastic bottle and shake properly.", + "Shake the the medium-sized green bottle properly after lifting.", + "Utilize the left arm to hold the medium green bottle and shake it.", + "Shake the bottle with white printed label after grabbing it.", + "Using the left arm, shake the smooth green bottle and then place it back.", + "Shake the bottle with narrow top after holding it firmly.", + "Grip the medium green bottle with capped neck using the left arm and shake.", + "Grab the plastic bottle and move it to shake.", + "Use the left arm to pick and shake the smooth green bottle.", + "Use the left arm to lift and shake the handheld green bottle.", + "Pick up the handheld green bottle and shake it well.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Pick the bottle with white printed label up with the left arm and shake.", + "Secure the plastic bottle and perform a shake.", + "Grab and shake the green bottle with indented base using the left arm.", + "Lift the handheld green bottle and shake it thoroughly.", + "Pick the green bottle with indented base, shake it with the left arm.", + "Shake the smooth green bottle after grabbing it.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Grab the medium green bottle with capped neck and shake it steadily.", + "Use the left arm to lift and shake the medium green bottle.", + "Lift the plastic bottle and shake it gently.", + "Use the left arm to hold the bottle with narrow top and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Shake the bottle with white printed label using the left arm after grabbing.", + "Catch the smooth green bottle and shake it instantly.", + "Grasp the bottle with white printed label with the left arm and shake it.", + "Lift the bottle with white printed label with the left arm and shake.", + "Grab the plastic bottle carefully and shake.", + "Grab the smooth green plastic bottle using the left arm, then shake.", + "Lift the bottle with rounded neck with the left arm and shake it.", + "Lift the green bottle with indented base with the left arm and give it a shake.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Hold the plastic bottle, shake it briefly.", + "Pick up the green bottle with indented base and shake it.", + "Grab the bottle with white printed label with the left arm and shake.", + "Hold the plastic bottle and shake it properly.", + "Grab the green bottle with indented base and give it a shake.", + "Hold the bottle with narrow top steady, then shake it.", + "Pick the handheld green bottle up using the left arm and shake it.", + "Use the left arm to grab the medium green bottle with capped neck and shake it.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Shake the smooth green plastic bottle after lifting it.", + "Lift up the smooth green plastic bottle using the left arm, then shake.", + "Hold the green bottle with indented base with the left arm and shake lightly.", + "Take the bottle with white printed label using the left arm and give it a shake.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Pick the bottle with white printed label and perform shaking motion.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Shake the the plastic bottle properly after lifting.", + "Utilize the left arm to hold the smooth green bottle and shake it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Using the left arm, shake the smooth green plastic bottle and then place it back.", + "Shake the handheld green bottle after holding it firmly.", + "Grip the bottle with ridges near base using the left arm and shake.", + "Grab the bottle with narrow top and move it to shake.", + "Use the left arm to pick and shake the plastic bottle.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Pick up the green bottle with indented base and shake it well.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Pick the medium green bottle up with the left arm and shake.", + "Secure the bottle with rounded neck and perform a shake.", + "Grab and shake the bottle with ridges near base using the left arm.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Pick the green bottle with indented base, shake it with the left arm.", + "Shake the medium green bottle after grabbing it.", + "Shake the bottle with white printed label firmly after grabbing.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Lift the medium-sized green bottle and shake it gently.", + "Use the left arm to hold the bottle with narrow top and shake it.", + "Shake the smooth green bottle after grabbing it.", + "Shake the smooth green bottle using the left arm after grabbing.", + "Catch the smooth green bottle and shake it instantly.", + "Grasp the bottle with rounded neck with the left arm and shake it.", + "Lift the bottle with white printed label with the left arm and shake.", + "Grab the plastic bottle carefully and shake.", + "Grab the medium green bottle using the left arm, then shake.", + "Lift the medium green bottle with the left arm and shake it.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Use the left arm to grab the green bottle with indented base and shake properly.", + "Hold the medium green bottle, shake it briefly.", + "Pick up the medium-sized green bottle and shake it." + ], + "unseen": [ + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode241.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode241.json new file mode 100644 index 0000000000000000000000000000000000000000..353db00b322be4a73dd5943d5a922809941ec83e --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode241.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the plastic bottle with the left arm and shake it.", + "Grab the medium-sized green bottle and shake it steadily.", + "Hold the bottle with ridges near base steady, then shake it.", + "Grip the medium-sized green bottle using the left arm and shake.", + "Grab the plastic bottle and move it to shake.", + "Lift the plastic bottle with the left arm and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "Pick the smooth green plastic bottle, shake it with the left arm.", + "Grab and shake the medium green bottle with capped neck using the left arm.", + "Shake the bottle with rounded neck after grabbing it.", + "Grab the green bottle with indented base carefully and shake.", + "Shake the bottle with white printed label after holding it firmly.", + "Lift the medium green bottle with the left arm and shake.", + "Shake the smooth green plastic bottle after grabbing it.", + "Lift the medium-sized green bottle and shake it gently.", + "Shake the bottle with white printed label after lifting it.", + "Use the left arm to hold the handheld green bottle and shake it.", + "Secure the medium green bottle, shake it, and place it down.", + "Pick the bottle with white printed label up with the left arm and shake.", + "Use the left arm to lift and shake the handheld green bottle.", + "Hold the smooth green bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the plastic bottle.", + "Pick the medium green bottle with capped neck up using the left arm and shake it.", + "Use the left arm to pick and shake the medium green bottle with capped neck.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Hold the handheld green bottle and shake it properly.", + "Use the left arm to lift and shake the medium green bottle.", + "Grab the green bottle with indented base and give it a shake.", + "Pick up the bottle with rounded neck and shake it well.", + "With the left arm, pick the smooth green bottle and shake properly.", + "Shake the smooth green bottle using the left arm after grabbing.", + "Shake the the handheld green bottle properly after lifting.", + "Shake the smooth green bottle after grabbing it.", + "Catch the bottle with rounded neck and shake it instantly.", + "Shake the medium green bottle firmly after grabbing.", + "Use the left arm to grab the medium green bottle with capped neck and shake properly.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Use the left arm to grab the green bottle with indented base and shake it.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Secure the medium-sized green bottle and perform a shake.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Lift up the medium-sized green bottle using the left arm, then shake.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Utilize the left arm to hold the handheld green bottle and shake it.", + "Grab the smooth green bottle with the left arm and shake.", + "Grasp the medium green bottle with capped neck with the left arm and shake it.", + "Grab the bottle with narrow top and shake it steadily.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Grip the bottle with ridges near base using the left arm and shake.", + "Grab the bottle with ridges near base and move it to shake.", + "Lift the medium green bottle with capped neck with the left arm and shake it.", + "Pick up the bottle with rounded neck and shake it.", + "Pick the medium-sized green bottle, shake it with the left arm.", + "Grab and shake the medium green bottle with capped neck using the left arm.", + "Shake the bottle with narrow top after grabbing it.", + "Grab the handheld green bottle carefully and shake.", + "Shake the green bottle with indented base after holding it firmly.", + "Lift the handheld green bottle with the left arm and shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Shake the plastic bottle after lifting it.", + "Use the left arm to hold the green bottle with indented base and shake it.", + "Secure the handheld green bottle, shake it, and place it down.", + "Pick the bottle with ridges near base up with the left arm and shake.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Hold the smooth green plastic bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the smooth green bottle.", + "Pick the medium green bottle with capped neck up using the left arm and shake it.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Hold the green bottle with indented base, shake it briefly.", + "Hold the smooth green plastic bottle and shake it properly.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Grab the medium green bottle and give it a shake.", + "Pick up the smooth green bottle and shake it well.", + "With the left arm, pick the smooth green bottle and shake properly.", + "Shake the medium-sized green bottle using the left arm after grabbing.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Shake the smooth green plastic bottle after grabbing it.", + "Catch the plastic bottle and shake it instantly.", + "Shake the medium green bottle firmly after grabbing.", + "Use the left arm to grab the smooth green plastic bottle and shake properly.", + "Lift the green bottle with indented base with the left arm and give it a shake.", + "Use the left arm to grab the green bottle with indented base and shake it.", + "Using the left arm, shake the bottle with ridges near base and then place it back.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Grab the handheld green bottle using the left arm, then shake.", + "Secure the handheld green bottle and perform a shake.", + "Hold and shake the the handheld green bottle carefully.", + "Lift up the medium green bottle with capped neck using the left arm, then shake.", + "Lift the handheld green bottle and shake it thoroughly.", + "Pick the plastic bottle and perform shaking motion.", + "Take the medium-sized green bottle using the left arm and give it a shake.", + "Utilize the left arm to hold the bottle with narrow top and shake it.", + "Grab the medium-sized green bottle with the left arm and shake." + ], + "unseen": [ + "Use the left arm to pick the green bottle with white label.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode242.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode242.json new file mode 100644 index 0000000000000000000000000000000000000000..2eef181b5006814b1443b80aae765689cac78d13 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode242.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to hold the hand-sized soda bottle and shake it.", + "Shake the red-capped bottle after grabbing it.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Take the red-capped bottle using the left arm and give it a shake.", + "Pick up the brown bottle with red label and shake it.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Utilize the left arm to hold the long thin bottle and shake it.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Using the left arm, shake the dark drink bottle with logo and then place it back.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Use the left arm to pick and shake the plastic drink bottle.", + "Lift the long thin bottle with the left arm and shake.", + "Use the left arm to lift and shake the long thin bottle.", + "Grab the Coca-Cola bottle and move it to shake.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Shake the red-capped bottle after holding it firmly.", + "Hold the brown bottle with red label and shake it properly.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Hold the brown bottle with red label steady, then shake it.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Grab the hand-sized soda bottle carefully and shake.", + "Hold the hand-sized soda bottle with the left arm and shake lightly.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Grab the Coca-Cola bottle with the left arm and shake.", + "Grab and shake the red-capped bottle using the left arm.", + "Grab the hand-sized soda bottle using the left arm, then shake.", + "Grip the dark drink bottle with logo using the left arm and shake.", + "Lift the smooth bottle with red lid and shake it gently.", + "Shake the the red-capped bottle properly after lifting.", + "Pick the narrow-necked bottle up with the left arm and shake.", + "Pick up the smooth bottle with red lid and shake it well.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Secure the plastic drink bottle and perform a shake.", + "Shake the long thin bottle after grabbing it.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "With the left arm, pick the red-capped bottle and shake properly.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Lift up the medium dark brown bottle using the left arm, then shake.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Shake the plastic drink bottle after lifting it.", + "Lift the long thin bottle with the left arm and give it a shake.", + "Shake the red-capped bottle using the left arm after grabbing.", + "Use the left arm to hold the narrow-necked bottle and shake it.", + "Shake the narrow-necked bottle after grabbing it.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Take the long thin bottle using the left arm and give it a shake.", + "Pick up the bottle with white neck and red top and shake it.", + "Secure the red-capped bottle, shake it, and place it down.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Use the left arm to grab the hand-sized soda bottle and shake it.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Utilize the left arm to hold the long thin bottle and shake it.", + "Hold the narrow-necked bottle, shake it briefly.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "Pick the red-capped bottle and perform shaking motion.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Use the left arm to pick and shake the plastic drink bottle.", + "Lift the plastic drink bottle with the left arm and shake.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Grab the medium dark brown bottle and move it to shake.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Hold the brown bottle with red label and shake it properly.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Pick the long thin bottle up using the left arm and shake it.", + "Grab the brown bottle with red label carefully and shake.", + "Hold the brown bottle with red label with the left arm and shake lightly.", + "Lift the red-capped bottle with the left arm and shake it.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Grab the plastic drink bottle with the left arm and shake.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Grab the red-capped bottle using the left arm, then shake.", + "Grip the dark drink bottle with logo using the left arm and shake.", + "Lift the Coca-Cola bottle and shake it gently.", + "Shake the the brown bottle with red label properly after lifting.", + "Pick the narrow-necked bottle up with the left arm and shake.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Grasp the long thin bottle with the left arm and shake it.", + "Secure the plastic drink bottle and perform a shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Grab the brown bottle with red label and give it a shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "With the left arm, pick the plastic drink bottle and shake properly.", + "Use the left arm to lift and shake the long thin bottle.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Use the left arm to grab the brown bottle with red label and shake properly.", + "Shake the dark drink bottle with logo after lifting it.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Shake the bottle with ridges on bottom using the left arm after grabbing." + ], + "unseen": [ + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode243.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode243.json new file mode 100644 index 0000000000000000000000000000000000000000..303aa2eaa1e1cd14cb9b5c0f5191e9e2e9f0fb5e --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode243.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with ridges near base after lifting it.", + "Use the right arm to hold the medium green bottle with capped neck and shake it.", + "Grip the bottle with rounded neck using the right arm and shake.", + "Pick the bottle with rounded neck, shake it with the right arm.", + "Grab the bottle with narrow top with the right arm and shake.", + "Shake the smooth green plastic bottle after grabbing it.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Lift the smooth green bottle and shake it gently.", + "Pick the bottle with rounded neck up with the right arm and shake.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Hold the smooth green plastic bottle and shake it properly.", + "Secure the medium-sized green bottle and perform a shake.", + "Use the right arm to pick and shake the bottle with ridges near base.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Grab and shake the medium green bottle with capped neck using the right arm.", + "Hold the green bottle with indented base steady, then shake it.", + "Grab the smooth green plastic bottle and give it a shake.", + "Grab the bottle with white printed label and shake it steadily.", + "Use the right arm to grab the bottle with rounded neck and shake it.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Use the right arm to grab the green bottle with indented base and shake properly.", + "Grab the bottle with ridges near base using the right arm, then shake.", + "Lift the bottle with narrow top with the right arm and give it a shake.", + "With the right arm, pick the bottle with ridges near base and shake properly.", + "Lift up the bottle with rounded neck using the right arm, then shake.", + "Hold and shake the the bottle with white printed label carefully.", + "Lift the smooth green bottle and shake it thoroughly.", + "Hold the medium green bottle with the right arm and shake lightly.", + "Shake the bottle with rounded neck after grabbing it.", + "Pick up the bottle with rounded neck and shake it.", + "Take the medium-sized green bottle using the right arm and give it a shake.", + "Shake the the plastic bottle properly after lifting.", + "Lift the plastic bottle with the right arm and shake.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Lift the plastic bottle with the right arm and shake it.", + "Utilize the right arm to hold the smooth green bottle and shake it.", + "Pick up the bottle with white printed label and shake it well.", + "Hold the bottle with ridges near base, shake it briefly.", + "Shake the bottle with white printed label using the right arm after grabbing.", + "Shake the bottle with white printed label after holding it firmly.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Grasp the green bottle with indented base with the right arm and shake it.", + "Using the right arm, shake the smooth green bottle and then place it back.", + "Shake the medium-sized green bottle after grabbing it.", + "Pick the bottle with ridges near base up using the right arm and shake it.", + "Shake the bottle with narrow top after lifting it.", + "Use the right arm to hold the medium-sized green bottle and shake it.", + "Grip the handheld green bottle using the right arm and shake.", + "Pick the green bottle with indented base, shake it with the right arm.", + "Grab the green bottle with indented base with the right arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Pick the bottle with ridges near base up with the right arm and shake.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Hold the smooth green bottle and shake it properly.", + "Secure the plastic bottle and perform a shake.", + "Use the right arm to pick and shake the medium-sized green bottle.", + "Pick the smooth green bottle and perform shaking motion.", + "Grab the bottle with white printed label carefully and shake.", + "Grab and shake the handheld green bottle using the right arm.", + "Hold the medium green bottle steady, then shake it.", + "Grab the smooth green bottle and give it a shake.", + "Grab the medium green bottle with capped neck and shake it steadily.", + "Use the right arm to grab the handheld green bottle and shake it.", + "Grab the smooth green bottle and move it to shake.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Catch the smooth green bottle and shake it instantly.", + "Use the right arm to grab the handheld green bottle and shake properly.", + "Grab the plastic bottle using the right arm, then shake.", + "Lift the medium green bottle with the right arm and give it a shake.", + "With the right arm, pick the medium green bottle and shake properly.", + "Lift up the medium green bottle using the right arm, then shake.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Lift the handheld green bottle and shake it thoroughly.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Shake the plastic bottle after grabbing it.", + "Pick up the bottle with rounded neck and shake it.", + "Take the plastic bottle using the right arm and give it a shake.", + "Shake the the plastic bottle properly after lifting.", + "Lift the bottle with ridges near base with the right arm and shake.", + "Use the right arm to lift and shake the medium green bottle.", + "Shake the handheld green bottle firmly after grabbing.", + "Lift the smooth green plastic bottle with the right arm and shake it.", + "Utilize the right arm to hold the bottle with ridges near base and shake it.", + "Pick up the green bottle with indented base and shake it well.", + "Hold the medium green bottle with capped neck, shake it briefly.", + "Shake the green bottle with indented base using the right arm after grabbing.", + "Shake the medium-sized green bottle after holding it firmly.", + "Secure the handheld green bottle, shake it, and place it down.", + "Grasp the plastic bottle with the right arm and shake it.", + "Using the right arm, shake the smooth green plastic bottle and then place it back.", + "Shake the smooth green bottle after grabbing it.", + "Pick the plastic bottle up using the right arm and shake it." + ], + "unseen": [ + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode244.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode244.json new file mode 100644 index 0000000000000000000000000000000000000000..e85237eb83a8f1b0de81361d181c89d5dec74b97 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode244.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the hand-sized soda bottle and shake it gently.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Shake the red-capped bottle after lifting it.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Shake the narrow-necked bottle after holding it firmly.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Grab the hand-sized soda bottle using the left arm, then shake.", + "Grab the smooth bottle with red lid carefully and shake.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Secure the long thin bottle, shake it, and place it down.", + "Grip the bottle with ridges on bottom using the left arm and shake.", + "Lift up the red-capped bottle using the left arm, then shake.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Grab the medium dark brown bottle and shake it steadily.", + "Hold the narrow-necked bottle steady, then shake it.", + "Use the left arm to pick and shake the red-capped bottle.", + "Hold the red-capped bottle and shake it properly.", + "Use the left arm to hold the bottle with white neck and red top and shake it.", + "Shake the the medium dark brown bottle properly after lifting.", + "Use the left arm to grab the red-capped bottle and shake properly.", + "Shake the plastic drink bottle after grabbing it.", + "Use the left arm to grab the dark drink bottle with logo and shake it.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Shake the plastic drink bottle after grabbing it.", + "Pick up the dark drink bottle with logo and shake it.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Pick the medium dark brown bottle, shake it with the left arm.", + "Pick up the dark drink bottle with logo and shake it well.", + "Grab the plastic drink bottle and give it a shake.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "With the left arm, pick the smooth bottle with red lid and shake properly.", + "Grasp the long thin bottle with the left arm and shake it.", + "Grab the red-capped bottle and move it to shake.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Pick the medium dark brown bottle up using the left arm and shake it.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Shake the smooth bottle with red lid after grabbing it.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Grab the plastic drink bottle with the left arm and shake.", + "Lift the red-capped bottle with the left arm and shake.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Pick the red-capped bottle up with the left arm and shake.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Secure the narrow-necked bottle and perform a shake.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Lift the plastic drink bottle and shake it gently.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Shake the bottle with white neck and red top after lifting it.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Shake the medium dark brown bottle after holding it firmly.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Grab the red-capped bottle using the left arm, then shake.", + "Grab the plastic drink bottle carefully and shake.", + "Take the bottle with white neck and red top using the left arm and give it a shake.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Grip the bottle with white neck and red top using the left arm and shake.", + "Lift up the Coca-Cola bottle using the left arm, then shake.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Grab the red-capped bottle and shake it steadily.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Use the left arm to pick and shake the hand-sized soda bottle.", + "Hold the smooth bottle with red lid and shake it properly.", + "Use the left arm to hold the brown bottle with red label and shake it.", + "Shake the the long thin bottle properly after lifting.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Shake the smooth bottle with red lid after grabbing it.", + "Use the left arm to grab the bottle with ridges on bottom and shake it.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Lift the bottle with ridges on bottom with the left arm and give it a shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Pick up the medium dark brown bottle and shake it.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Pick the red-capped bottle, shake it with the left arm.", + "Pick up the bottle with white neck and red top and shake it well.", + "Grab the dark drink bottle with logo and give it a shake.", + "Lift the plastic drink bottle with the left arm and shake it.", + "Hold the narrow-necked bottle with the left arm and shake lightly.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Grasp the smooth bottle with red lid with the left arm and shake it.", + "Grab the medium dark brown bottle and move it to shake.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Pick the plastic drink bottle up using the left arm and shake it.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Shake the dark drink bottle with logo after grabbing it.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Catch the medium dark brown bottle and shake it instantly.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Grab the brown bottle with red label with the left arm and shake.", + "Lift the narrow-necked bottle with the left arm and shake.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Pick the bottle with white neck and red top up with the left arm and shake.", + "Utilize the left arm to hold the dark drink bottle with logo and shake it.", + "Secure the brown bottle with red label and perform a shake.", + "Grab the long thin bottle firmly, shake it, and put it down." + ], + "unseen": [ + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode245.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode245.json new file mode 100644 index 0000000000000000000000000000000000000000..ed236e9418eae0b5bb19f16f37c140b43ec0456a --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode245.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the plastic bottle and shake it instantly.", + "Grab the green bottle with indented base carefully and shake.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Grab the bottle with white printed label with the left arm and shake.", + "Lift the handheld green bottle and shake it gently.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Hold and shake the the green bottle with indented base carefully.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Lift up the bottle with rounded neck using the left arm, then shake.", + "Grab the smooth green plastic bottle and give it a shake.", + "Use the left arm to grab the medium-sized green bottle and shake properly.", + "Shake the medium-sized green bottle after grabbing it.", + "Shake the smooth green bottle after grabbing it.", + "Use the left arm to hold the bottle with rounded neck and shake it.", + "Lift the green bottle with indented base with the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Secure the bottle with ridges near base and perform a shake.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Pick the bottle with white printed label up with the left arm and shake.", + "Grab the green bottle with indented base and shake it steadily.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Take the plastic bottle using the left arm and give it a shake.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Use the left arm to pick and shake the handheld green bottle.", + "Grip the medium green bottle with capped neck using the left arm and shake.", + "Shake the green bottle with indented base firmly after grabbing.", + "Hold the bottle with rounded neck, shake it briefly.", + "Grasp the medium green bottle with capped neck with the left arm and shake it.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Grab the green bottle with indented base and move it to shake.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Pick up the bottle with rounded neck and shake it.", + "Lift the medium green bottle with the left arm and shake.", + "Pick the plastic bottle up using the left arm and shake it.", + "Pick the medium green bottle and perform shaking motion.", + "Use the left arm to grab the bottle with rounded neck and shake it.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Shake the handheld green bottle after lifting it.", + "Grab and shake the plastic bottle using the left arm.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Shake the the medium green bottle properly after lifting.", + "Shake the bottle with ridges near base after holding it firmly.", + "Shake the bottle with narrow top after grabbing it.", + "Using the left arm, shake the medium green bottle and then place it back.", + "Pick up the bottle with ridges near base and shake it well.", + "Hold the bottle with ridges near base with the left arm and shake lightly.", + "Lift the medium green bottle with capped neck with the left arm and shake it.", + "Shake the green bottle with indented base using the left arm after grabbing.", + "Catch the bottle with rounded neck and shake it instantly.", + "Grab the bottle with rounded neck carefully and shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the medium green bottle with the left arm and shake.", + "Lift the bottle with ridges near base and shake it gently.", + "Utilize the left arm to hold the medium-sized green bottle and shake it.", + "Hold and shake the the handheld green bottle carefully.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Lift up the smooth green bottle using the left arm, then shake.", + "Grab the bottle with white printed label and give it a shake.", + "Use the left arm to grab the medium green bottle with capped neck and shake properly.", + "Shake the smooth green bottle after grabbing it.", + "Shake the green bottle with indented base after grabbing it.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Lift the bottle with narrow top with the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Secure the green bottle with indented base and perform a shake.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Pick the medium green bottle up with the left arm and shake.", + "Grab the smooth green bottle and shake it steadily.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Hold the green bottle with indented base steady, then shake it.", + "Use the left arm to pick and shake the bottle with narrow top.", + "Grip the handheld green bottle using the left arm and shake.", + "Shake the handheld green bottle firmly after grabbing.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Grasp the smooth green plastic bottle with the left arm and shake it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Grab the bottle with narrow top and move it to shake.", + "Hold the bottle with rounded neck and shake it properly.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Pick up the green bottle with indented base and shake it.", + "Lift the medium green bottle with capped neck with the left arm and shake.", + "Pick the medium green bottle up using the left arm and shake it.", + "Pick the bottle with narrow top and perform shaking motion.", + "Use the left arm to grab the handheld green bottle and shake it.", + "With the left arm, pick the bottle with narrow top and shake properly.", + "Shake the medium green bottle with capped neck after lifting it.", + "Grab and shake the bottle with narrow top using the left arm.", + "Lift the plastic bottle and shake it thoroughly.", + "Shake the the medium green bottle properly after lifting.", + "Shake the medium green bottle with capped neck after holding it firmly.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Pick up the smooth green plastic bottle and shake it well.", + "Hold the medium green bottle with capped neck with the left arm and shake lightly.", + "Lift the green bottle with indented base with the left arm and shake it.", + "Shake the bottle with narrow top using the left arm after grabbing." + ], + "unseen": [ + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode246.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode246.json new file mode 100644 index 0000000000000000000000000000000000000000..97556857e451d5276164e955cd68d3cefeb6b24a --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode246.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the narrow-necked bottle after grabbing it.", + "Hold the long thin bottle, shake it briefly.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Hold the narrow-necked bottle steady, then shake it.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Grab the bottle with white neck and red top carefully and shake.", + "Using the left arm, shake the dark drink bottle with logo and then place it back.", + "Pick up the medium dark brown bottle and shake it well.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Lift the smooth bottle with red lid and shake it gently.", + "Use the left arm to grab the brown bottle with red label and shake it.", + "Use the left arm to pick and shake the narrow-necked bottle.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "Shake the bottle with white neck and red top after grabbing it.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Pick the dark drink bottle with logo up with the left arm and shake.", + "Shake the red-capped bottle using the left arm after grabbing.", + "Take the dark drink bottle with logo using the left arm and give it a shake.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Hold the bottle with white neck and red top and shake it properly.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Pick the hand-sized soda bottle up using the left arm and shake it.", + "With the left arm, pick the bottle with white neck and red top and shake properly.", + "Use the left arm to hold the medium dark brown bottle and shake it.", + "Lift up the narrow-necked bottle using the left arm, then shake.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Shake the long thin bottle after holding it firmly.", + "Grab and shake the red-capped bottle using the left arm.", + "Lift the medium dark brown bottle with the left arm and give it a shake.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Hold the hand-sized soda bottle with the left arm and shake lightly.", + "Pick up the brown bottle with red label and shake it.", + "Shake the medium dark brown bottle after grabbing it.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Grab the brown bottle with red label and move it to shake.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Grab the Coca-Cola bottle using the left arm, then shake.", + "Lift the narrow-necked bottle with the left arm and shake.", + "Secure the brown bottle with red label and perform a shake.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Grab the plastic drink bottle and give it a shake.", + "Pick the long thin bottle, shake it with the left arm.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Shake the dark drink bottle with logo after lifting it.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Utilize the left arm to hold the dark drink bottle with logo and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Hold the red-capped bottle, shake it briefly.", + "Pick the red-capped bottle and perform shaking motion.", + "Hold the medium dark brown bottle steady, then shake it.", + "Catch the long thin bottle and shake it instantly.", + "Grab the hand-sized soda bottle carefully and shake.", + "Using the left arm, shake the medium dark brown bottle and then place it back.", + "Pick up the long thin bottle and shake it well.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Use the left arm to grab the Coca-Cola bottle and shake it.", + "Use the left arm to pick and shake the narrow-necked bottle.", + "Grab the smooth bottle with red lid with the left arm and shake.", + "Shake the bottle with white neck and red top after grabbing it.", + "Secure the red-capped bottle, shake it, and place it down.", + "Pick the brown bottle with red label up with the left arm and shake.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Take the dark drink bottle with logo using the left arm and give it a shake.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Hold the brown bottle with red label and shake it properly.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Pick the plastic drink bottle up using the left arm and shake it.", + "With the left arm, pick the bottle with white neck and red top and shake properly.", + "Use the left arm to hold the narrow-necked bottle and shake it.", + "Lift up the Coca-Cola bottle using the left arm, then shake.", + "Use the left arm to grab the medium dark brown bottle and shake properly.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Grab and shake the narrow-necked bottle using the left arm.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Hold the medium dark brown bottle with the left arm and shake lightly.", + "Pick up the brown bottle with red label and shake it.", + "Shake the medium dark brown bottle after grabbing it.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Grab the medium dark brown bottle and move it to shake.", + "Hold and shake the the brown bottle with red label carefully.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Lift the bottle with ridges on bottom with the left arm and shake.", + "Secure the Coca-Cola bottle and perform a shake.", + "Grip the narrow-necked bottle using the left arm and shake.", + "Grasp the bottle with white neck and red top with the left arm and shake it.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Grab the long thin bottle and give it a shake.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Shake the red-capped bottle after lifting it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Utilize the left arm to hold the medium dark brown bottle and shake it." + ], + "unseen": [ + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode247.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode247.json new file mode 100644 index 0000000000000000000000000000000000000000..4d94f063064a6f6e03c3dc16a80113b1317b4d32 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode247.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the handheld green bottle with the left arm and shake.", + "Grip the smooth green bottle using the left arm and shake.", + "Use the left arm to lift and shake the medium green bottle.", + "Pick the bottle with ridges near base, shake it with the left arm.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Pick up the medium green bottle with capped neck and shake it.", + "Shake the plastic bottle after grabbing it.", + "Lift the bottle with ridges near base with the left arm and shake it.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Grab the green bottle with indented base and shake it steadily.", + "Use the left arm to hold the smooth green plastic bottle and shake it.", + "Pick up the bottle with rounded neck and shake it well.", + "Hold the smooth green plastic bottle and shake it properly.", + "Grab the medium-sized green bottle carefully and shake.", + "Use the left arm to lift and shake the smooth green bottle.", + "Grab the medium-sized green bottle and move it to shake.", + "Shake the bottle with rounded neck after lifting it.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Use the left arm to pick and shake the bottle with rounded neck.", + "Lift up the green bottle with indented base using the left arm, then shake.", + "Hold the handheld green bottle steady, then shake it.", + "Take the bottle with white printed label using the left arm and give it a shake.", + "Hold and shake the the bottle with white printed label carefully.", + "Shake the medium green bottle firmly after grabbing.", + "Hold the bottle with ridges near base, shake it briefly.", + "Pick the plastic bottle up using the left arm and shake it.", + "Shake the the medium-sized green bottle properly after lifting.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Hold the medium green bottle with the left arm and shake lightly.", + "Use the left arm to grab the medium green bottle and shake properly.", + "Shake the handheld green bottle after grabbing it.", + "Lift the bottle with rounded neck with the left arm and shake.", + "Grab the smooth green bottle and give it a shake.", + "Lift the medium green bottle with the left arm and give it a shake.", + "Grab the medium green bottle using the left arm, then shake.", + "Catch the green bottle with indented base and shake it instantly.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Using the left arm, shake the bottle with white printed label and then place it back.", + "Grab and shake the bottle with white printed label using the left arm.", + "Grasp the smooth green bottle with the left arm and shake it.", + "Lift the medium green bottle and shake it gently.", + "Use the left arm to grab the handheld green bottle and shake it.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Secure the handheld green bottle and perform a shake.", + "Shake the plastic bottle using the left arm after grabbing.", + "With the left arm, pick the smooth green bottle and shake properly.", + "Shake the plastic bottle after grabbing it.", + "Pick the medium-sized green bottle up with the left arm and shake.", + "Grab the plastic bottle with the left arm and shake.", + "Grip the medium green bottle using the left arm and shake.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Pick the bottle with ridges near base, shake it with the left arm.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Pick up the bottle with narrow top and shake it.", + "Shake the plastic bottle after grabbing it.", + "Lift the plastic bottle with the left arm and shake it.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Grab the bottle with narrow top and shake it steadily.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Pick up the plastic bottle and shake it well.", + "Hold the smooth green plastic bottle and shake it properly.", + "Grab the medium green bottle carefully and shake.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Grab the handheld green bottle and move it to shake.", + "Shake the smooth green plastic bottle after lifting it.", + "Shake the bottle with narrow top after holding it firmly.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Use the left arm to pick and shake the handheld green bottle.", + "Lift up the bottle with ridges near base using the left arm, then shake.", + "Hold the medium-sized green bottle steady, then shake it.", + "Take the bottle with narrow top using the left arm and give it a shake.", + "Hold and shake the the bottle with rounded neck carefully.", + "Shake the medium green bottle firmly after grabbing.", + "Hold the bottle with narrow top, shake it briefly.", + "Pick the medium green bottle up using the left arm and shake it.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Hold the handheld green bottle with the left arm and shake lightly.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Shake the smooth green plastic bottle after grabbing it.", + "Lift the smooth green bottle with the left arm and shake.", + "Grab the smooth green plastic bottle and give it a shake.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Catch the smooth green bottle and shake it instantly.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Grab and shake the handheld green bottle using the left arm.", + "Grasp the bottle with white printed label with the left arm and shake it.", + "Lift the bottle with ridges near base and shake it gently.", + "Use the left arm to grab the bottle with ridges near base and shake it.", + "Utilize the left arm to hold the medium green bottle with capped neck and shake it.", + "Secure the smooth green plastic bottle and perform a shake.", + "Shake the green bottle with indented base using the left arm after grabbing.", + "With the left arm, pick the smooth green plastic bottle and shake properly.", + "Shake the green bottle with indented base after grabbing it.", + "Pick the bottle with rounded neck up with the left arm and shake." + ], + "unseen": [ + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode248.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode248.json new file mode 100644 index 0000000000000000000000000000000000000000..1a1dbb9e5b05f86cae221480819738466dc6b726 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode248.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the hand-sized soda bottle using the left arm and shake.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Pick the bottle with white neck and red top, shake it with the left arm.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Grasp the bottle with ridges on bottom with the left arm and shake it.", + "Shake the medium dark brown bottle after grabbing it.", + "Catch the long thin bottle and shake it instantly.", + "Pick up the smooth bottle with red lid and shake it well.", + "Grab the bottle with white neck and red top and move it to shake.", + "Shake the brown bottle with red label after grabbing it.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Shake the dark drink bottle with logo after lifting it.", + "Use the left arm to lift and shake the long thin bottle.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Use the left arm to grab the long thin bottle and shake properly.", + "Pick the plastic drink bottle up with the left arm and shake.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Secure the red-capped bottle and perform a shake.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Hold the narrow-necked bottle, shake it briefly.", + "Shake the smooth bottle with red lid after grabbing it.", + "Use the left arm to grab the brown bottle with red label and shake it.", + "Lift the brown bottle with red label and shake it gently.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Pick the brown bottle with red label up using the left arm and shake it.", + "Using the left arm, shake the narrow-necked bottle and then place it back.", + "Lift the smooth bottle with red lid with the left arm and shake.", + "Take the medium dark brown bottle using the left arm and give it a shake.", + "Pick up the medium dark brown bottle and shake it.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Hold the bottle with white neck and red top and shake it properly.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Grab and shake the dark drink bottle with logo using the left arm.", + "Grab the bottle with white neck and red top carefully and shake.", + "Grab the smooth bottle with red lid with the left arm and shake.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Pick the red-capped bottle and perform shaking motion.", + "Use the left arm to hold the medium dark brown bottle and shake it.", + "Shake the the medium dark brown bottle properly after lifting.", + "Lift up the plastic drink bottle using the left arm, then shake.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Lift the dark drink bottle with logo with the left arm and shake it.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Use the left arm to pick and shake the long thin bottle.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Hold and shake the the red-capped bottle carefully.", + "Grab the red-capped bottle and give it a shake.", + "Grasp the long thin bottle with the left arm and shake it.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Catch the narrow-necked bottle and shake it instantly.", + "Pick up the narrow-necked bottle and shake it well.", + "Grab the Coca-Cola bottle and move it to shake.", + "Shake the red-capped bottle after grabbing it.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Utilize the left arm to hold the plastic drink bottle and shake it.", + "Shake the red-capped bottle after lifting it.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Secure the long thin bottle, shake it, and place it down.", + "Use the left arm to grab the Coca-Cola bottle and shake properly.", + "Pick the smooth bottle with red lid up with the left arm and shake.", + "Grab the plastic drink bottle and shake it steadily.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Secure the smooth bottle with red lid and perform a shake.", + "Shake the narrow-necked bottle after holding it firmly.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Shake the brown bottle with red label after grabbing it.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Lift the brown bottle with red label and shake it gently.", + "Use the left arm to lift and shake the red-capped bottle.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Using the left arm, shake the bottle with ridges on bottom and then place it back.", + "Lift the long thin bottle with the left arm and shake.", + "Take the brown bottle with red label using the left arm and give it a shake.", + "Pick up the brown bottle with red label and shake it.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Hold the red-capped bottle and shake it properly.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Shake the plastic drink bottle firmly after grabbing.", + "Grab and shake the plastic drink bottle using the left arm.", + "Grab the Coca-Cola bottle carefully and shake.", + "Grab the red-capped bottle with the left arm and shake.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Pick the plastic drink bottle and perform shaking motion.", + "Use the left arm to hold the dark drink bottle with logo and shake it.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Lift the long thin bottle with the left arm and shake it." + ], + "unseen": [ + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode249.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode249.json new file mode 100644 index 0000000000000000000000000000000000000000..0b7e9d31a77da10cb1c8a997ecdaf44da3f54f1e --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode249.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the bottle with ridges on bottom with the right arm and give it a shake.", + "Grab the dark drink bottle with logo and move it to shake.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Shake the long thin bottle using the right arm after grabbing.", + "Shake the the long thin bottle properly after lifting.", + "Grasp the dark drink bottle with logo with the right arm and shake it.", + "Secure the dark drink bottle with logo and perform a shake.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Use the right arm to grab the hand-sized soda bottle and shake properly.", + "Pick up the bottle with white neck and red top and shake it.", + "Shake the bottle with white neck and red top after grabbing it.", + "Grab the bottle with white neck and red top with the right arm and shake.", + "Utilize the right arm to hold the hand-sized soda bottle and shake it.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Use the right arm to lift and shake the long thin bottle.", + "Shake the medium dark brown bottle after grabbing it.", + "Lift up the long thin bottle using the right arm, then shake.", + "Hold the long thin bottle and shake it properly.", + "Use the right arm to hold the plastic drink bottle and shake it.", + "Lift the red-capped bottle and shake it gently.", + "Using the right arm, shake the smooth bottle with red lid and then place it back.", + "Grab the hand-sized soda bottle using the right arm, then shake.", + "Pick the plastic drink bottle, shake it with the right arm.", + "Hold the dark drink bottle with logo with the right arm and shake lightly.", + "Shake the narrow-necked bottle after lifting it.", + "Grab the hand-sized soda bottle carefully and shake.", + "With the right arm, pick the brown bottle with red label and shake properly.", + "Use the right arm to pick and shake the bottle with white neck and red top.", + "Take the long thin bottle using the right arm and give it a shake.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Grip the long thin bottle using the right arm and shake.", + "Pick the narrow-necked bottle up with the right arm and shake.", + "Hold and shake the the brown bottle with red label carefully.", + "Lift the medium dark brown bottle with the right arm and shake.", + "Pick the bottle with white neck and red top up using the right arm and shake it.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Hold the plastic drink bottle steady, then shake it.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Hold the brown bottle with red label, shake it briefly.", + "Use the right arm to grab the medium dark brown bottle and shake it.", + "Pick up the dark drink bottle with logo and shake it well.", + "Pick the long thin bottle and perform shaking motion.", + "Grab and shake the hand-sized soda bottle using the right arm.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Lift the smooth bottle with red lid with the right arm and shake it.", + "Lift the red-capped bottle and shake it thoroughly.", + "Use the right arm to lift and shake the red-capped bottle.", + "Catch the long thin bottle and shake it instantly.", + "Lift the bottle with ridges on bottom with the right arm and give it a shake.", + "Grab the long thin bottle and move it to shake.", + "Secure the red-capped bottle, shake it, and place it down.", + "Shake the bottle with ridges on bottom using the right arm after grabbing.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Grasp the plastic drink bottle with the right arm and shake it.", + "Secure the hand-sized soda bottle and perform a shake.", + "Shake the long thin bottle after holding it firmly.", + "Use the right arm to grab the smooth bottle with red lid and shake properly.", + "Pick up the plastic drink bottle and shake it.", + "Shake the smooth bottle with red lid after grabbing it.", + "Grab the narrow-necked bottle with the right arm and shake.", + "Utilize the right arm to hold the dark drink bottle with logo and shake it.", + "Grab the medium dark brown bottle and give it a shake.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Lift up the bottle with white neck and red top using the right arm, then shake.", + "Hold the dark drink bottle with logo and shake it properly.", + "Use the right arm to hold the smooth bottle with red lid and shake it.", + "Lift the bottle with white neck and red top and shake it gently.", + "Using the right arm, shake the Coca-Cola bottle and then place it back.", + "Grab the Coca-Cola bottle using the right arm, then shake.", + "Pick the long thin bottle, shake it with the right arm.", + "Hold the brown bottle with red label with the right arm and shake lightly.", + "Shake the long thin bottle after lifting it.", + "Grab the plastic drink bottle carefully and shake.", + "With the right arm, pick the Coca-Cola bottle and shake properly.", + "Use the right arm to pick and shake the red-capped bottle.", + "Take the long thin bottle using the right arm and give it a shake.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grip the red-capped bottle using the right arm and shake.", + "Pick the bottle with white neck and red top up with the right arm and shake.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Lift the brown bottle with red label with the right arm and shake.", + "Pick the medium dark brown bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Hold the plastic drink bottle steady, then shake it.", + "Shake the red-capped bottle firmly after grabbing.", + "Hold the brown bottle with red label, shake it briefly.", + "Use the right arm to grab the brown bottle with red label and shake it.", + "Pick up the bottle with white neck and red top and shake it well.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Grab and shake the dark drink bottle with logo using the right arm.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Lift the brown bottle with red label with the right arm and shake it.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Catch the dark drink bottle with logo and shake it instantly." + ], + "unseen": [ + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode25.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..0cb0160495dc4bc26c3f092c68ddee654bbf456e --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the right arm, shake the bottle with ridges on bottom and then place it back.", + "Grab the bottle with white neck and red top using the right arm, then shake.", + "Shake the bottle with ridges on bottom using the right arm after grabbing.", + "Shake the the brown bottle with red label properly after lifting.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Pick up the bottle with white neck and red top and shake it well.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Hold the brown bottle with red label steady, then shake it.", + "Hold the brown bottle with red label with the right arm and shake lightly.", + "Shake the brown bottle with red label after grabbing it.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Grab the plastic drink bottle with the right arm and shake.", + "Pick the plastic drink bottle up with the right arm and shake.", + "Pick up the red-capped bottle and shake it.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Grab and shake the brown bottle with red label using the right arm.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Pick the narrow-necked bottle up using the right arm and shake it.", + "Pick the brown bottle with red label and perform shaking motion.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Grasp the medium dark brown bottle with the right arm and shake it.", + "Use the right arm to grab the bottle with white neck and red top and shake properly.", + "Shake the medium dark brown bottle after lifting it.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Lift up the hand-sized soda bottle using the right arm, then shake.", + "Shake the red-capped bottle after grabbing it.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Lift the brown bottle with red label and shake it gently.", + "Utilize the right arm to hold the hand-sized soda bottle and shake it.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Use the right arm to pick and shake the plastic drink bottle.", + "Secure the dark drink bottle with logo and perform a shake.", + "Lift the smooth bottle with red lid with the right arm and shake it.", + "Grab the plastic drink bottle and shake it steadily.", + "Shake the brown bottle with red label after grabbing it.", + "Grab the red-capped bottle and move it to shake.", + "Lift the dark drink bottle with logo with the right arm and give it a shake.", + "Hold the Coca-Cola bottle and shake it properly.", + "Use the right arm to grab the bottle with ridges on bottom and shake it.", + "Grip the brown bottle with red label using the right arm and shake.", + "Lift the bottle with white neck and red top with the right arm and shake.", + "Use the right arm to hold the plastic drink bottle and shake it.", + "Grab the red-capped bottle carefully and shake.", + "Hold the brown bottle with red label, shake it briefly.", + "Lift the red-capped bottle and shake it thoroughly.", + "With the right arm, pick the narrow-necked bottle and shake properly.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Take the brown bottle with red label using the right arm and give it a shake.", + "Grab the dark drink bottle with logo and give it a shake.", + "Using the right arm, shake the bottle with white neck and red top and then place it back.", + "Grab the narrow-necked bottle using the right arm, then shake.", + "Shake the dark drink bottle with logo using the right arm after grabbing.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Pick up the dark drink bottle with logo and shake it well.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Hold the hand-sized soda bottle with the right arm and shake lightly.", + "Shake the medium dark brown bottle after grabbing it.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Grab the bottle with white neck and red top with the right arm and shake.", + "Pick the long thin bottle up with the right arm and shake.", + "Pick up the dark drink bottle with logo and shake it.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Grab and shake the dark drink bottle with logo using the right arm.", + "Secure the long thin bottle, shake it, and place it down.", + "Pick the plastic drink bottle up using the right arm and shake it.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Grasp the narrow-necked bottle with the right arm and shake it.", + "Use the right arm to grab the Coca-Cola bottle and shake properly.", + "Shake the bottle with ridges on bottom after lifting it.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Pick the bottle with white neck and red top, shake it with the right arm.", + "Lift up the dark drink bottle with logo using the right arm, then shake.", + "Shake the bottle with white neck and red top after grabbing it.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Lift the dark drink bottle with logo and shake it gently.", + "Utilize the right arm to hold the dark drink bottle with logo and shake it.", + "Hold and shake the the brown bottle with red label carefully.", + "Use the right arm to pick and shake the red-capped bottle.", + "Secure the Coca-Cola bottle and perform a shake.", + "Lift the bottle with ridges on bottom with the right arm and shake it.", + "Grab the medium dark brown bottle and shake it steadily.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Lift the red-capped bottle with the right arm and give it a shake.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Use the right arm to grab the plastic drink bottle and shake it.", + "Grip the long thin bottle using the right arm and shake.", + "Lift the narrow-necked bottle with the right arm and shake.", + "Use the right arm to hold the narrow-necked bottle and shake it.", + "Grab the smooth bottle with red lid carefully and shake.", + "Hold the long thin bottle, shake it briefly.", + "Lift the long thin bottle and shake it thoroughly.", + "With the right arm, pick the smooth bottle with red lid and shake properly.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Take the bottle with white neck and red top using the right arm and give it a shake.", + "Grab the hand-sized soda bottle and give it a shake." + ], + "unseen": [ + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode250.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode250.json new file mode 100644 index 0000000000000000000000000000000000000000..013c06478e532f3245042e8c771ab27ee124e4ab --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode250.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the medium dark brown bottle up with the left arm and shake.", + "Lift the hand-sized soda bottle and shake it gently.", + "Grab the red-capped bottle with the left arm and shake.", + "Grab the Coca-Cola bottle and give it a shake.", + "Secure the long thin bottle and perform a shake.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Hold the bottle with ridges on bottom with the left arm and shake lightly.", + "Grasp the hand-sized soda bottle with the left arm and shake it.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Shake the medium dark brown bottle after grabbing it.", + "Grab the dark drink bottle with logo carefully and shake.", + "Use the left arm to grab the hand-sized soda bottle and shake it.", + "Hold the Coca-Cola bottle and shake it properly.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Grab and shake the medium dark brown bottle using the left arm.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Lift up the bottle with white neck and red top using the left arm, then shake.", + "Grab the long thin bottle and shake it steadily.", + "With the left arm, pick the plastic drink bottle and shake properly.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Lift the long thin bottle with the left arm and give it a shake.", + "Pick the dark drink bottle with logo up using the left arm and shake it.", + "Pick the plastic drink bottle and perform shaking motion.", + "Grab the medium dark brown bottle using the left arm, then shake.", + "Hold and shake the the medium dark brown bottle carefully.", + "Pick up the dark drink bottle with logo and shake it well.", + "Lift the narrow-necked bottle with the left arm and shake.", + "Use the left arm to grab the Coca-Cola bottle and shake properly.", + "Use the left arm to pick and shake the hand-sized soda bottle.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Catch the red-capped bottle and shake it instantly.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Shake the plastic drink bottle after grabbing it.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Shake the bottle with white neck and red top after lifting it.", + "Pick up the narrow-necked bottle and shake it.", + "Use the left arm to hold the red-capped bottle and shake it.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Grip the plastic drink bottle using the left arm and shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Pick the dark drink bottle with logo, shake it with the left arm.", + "Grab the long thin bottle and move it to shake.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Pick the bottle with white neck and red top up with the left arm and shake.", + "Lift the long thin bottle and shake it gently.", + "Grab the red-capped bottle with the left arm and shake.", + "Grab the narrow-necked bottle and give it a shake.", + "Secure the red-capped bottle and perform a shake.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Hold the red-capped bottle with the left arm and shake lightly.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Shake the plastic drink bottle after grabbing it.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Use the left arm to grab the long thin bottle and shake it.", + "Hold the long thin bottle and shake it properly.", + "Take the hand-sized soda bottle using the left arm and give it a shake.", + "Grab and shake the plastic drink bottle using the left arm.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Lift up the hand-sized soda bottle using the left arm, then shake.", + "Grab the bottle with white neck and red top and shake it steadily.", + "With the left arm, pick the hand-sized soda bottle and shake properly.", + "Hold the medium dark brown bottle, shake it briefly.", + "Lift the brown bottle with red label with the left arm and give it a shake.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Hold and shake the the plastic drink bottle carefully.", + "Pick up the narrow-necked bottle and shake it well.", + "Lift the bottle with white neck and red top with the left arm and shake.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Use the left arm to pick and shake the brown bottle with red label.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Catch the narrow-necked bottle and shake it instantly.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Shake the narrow-necked bottle after grabbing it.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Shake the medium dark brown bottle after lifting it.", + "Pick up the narrow-necked bottle and shake it.", + "Use the left arm to hold the narrow-necked bottle and shake it.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "Grip the plastic drink bottle using the left arm and shake.", + "Shake the bottle with white neck and red top after grabbing it.", + "Pick the bottle with white neck and red top, shake it with the left arm.", + "Grab the medium dark brown bottle and move it to shake.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Lift the long thin bottle and shake it thoroughly.", + "Using the left arm, shake the bottle with white neck and red top and then place it back.", + "Utilize the left arm to hold the brown bottle with red label and shake it." + ], + "unseen": [ + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode251.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode251.json new file mode 100644 index 0000000000000000000000000000000000000000..93ef687bb68ff69a1b20419b31dc6c38d2569596 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode251.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Secure the Coca-Cola bottle and perform a shake.", + "Grab the Coca-Cola bottle and give it a shake.", + "Hold the bottle with white neck and red top and shake it properly.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Pick the medium dark brown bottle up with the right arm and shake.", + "Take the narrow-necked bottle using the right arm and give it a shake.", + "Lift the medium dark brown bottle with the right arm and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Pick up the brown bottle with red label and shake it.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Use the right arm to grab the Coca-Cola bottle and shake properly.", + "Grab and shake the bottle with ridges on bottom using the right arm.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Lift the smooth bottle with red lid with the right arm and shake.", + "Lift the medium dark brown bottle and shake it gently.", + "Lift up the bottle with ridges on bottom using the right arm, then shake.", + "Grab the brown bottle with red label using the right arm, then shake.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Pick the medium dark brown bottle up using the right arm and shake it.", + "Pick the bottle with ridges on bottom, shake it with the right arm.", + "Shake the narrow-necked bottle using the right arm after grabbing.", + "Hold the narrow-necked bottle steady, then shake it.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Grab the dark drink bottle with logo carefully and shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Lift the red-capped bottle with the right arm and give it a shake.", + "Catch the brown bottle with red label and shake it instantly.", + "Pick up the plastic drink bottle and shake it well.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Using the right arm, shake the brown bottle with red label and then place it back.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Grab the brown bottle with red label with the right arm and shake.", + "Grip the bottle with ridges on bottom using the right arm and shake.", + "Use the right arm to hold the dark drink bottle with logo and shake it.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Utilize the right arm to hold the plastic drink bottle and shake it.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Shake the smooth bottle with red lid after lifting it.", + "Use the right arm to pick and shake the smooth bottle with red lid.", + "Grab the narrow-necked bottle and shake it steadily.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Shake the the medium dark brown bottle properly after lifting.", + "Grab the red-capped bottle and move it to shake.", + "Use the right arm to grab the bottle with white neck and red top and shake it.", + "Shake the medium dark brown bottle after grabbing it.", + "Grasp the smooth bottle with red lid with the right arm and shake it.", + "With the right arm, pick the bottle with ridges on bottom and shake properly.", + "Hold the dark drink bottle with logo with the right arm and shake lightly.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Secure the dark drink bottle with logo and perform a shake.", + "Grab the red-capped bottle and give it a shake.", + "Hold the hand-sized soda bottle and shake it properly.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Pick the hand-sized soda bottle up with the right arm and shake.", + "Take the Coca-Cola bottle using the right arm and give it a shake.", + "Lift the dark drink bottle with logo with the right arm and shake it.", + "Shake the bottle with white neck and red top after grabbing it.", + "Pick up the dark drink bottle with logo and shake it.", + "Hold the brown bottle with red label, shake it briefly.", + "Use the right arm to grab the narrow-necked bottle and shake properly.", + "Grab and shake the brown bottle with red label using the right arm.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Lift the plastic drink bottle with the right arm and shake.", + "Lift the plastic drink bottle and shake it gently.", + "Lift up the brown bottle with red label using the right arm, then shake.", + "Grab the smooth bottle with red lid using the right arm, then shake.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Pick the red-capped bottle up using the right arm and shake it.", + "Pick the red-capped bottle, shake it with the right arm.", + "Shake the smooth bottle with red lid using the right arm after grabbing.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Grab the smooth bottle with red lid carefully and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Lift the red-capped bottle with the right arm and give it a shake.", + "Catch the long thin bottle and shake it instantly.", + "Pick up the narrow-necked bottle and shake it well.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Using the right arm, shake the bottle with ridges on bottom and then place it back.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Grab the red-capped bottle with the right arm and shake.", + "Grip the hand-sized soda bottle using the right arm and shake.", + "Use the right arm to hold the hand-sized soda bottle and shake it.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Utilize the right arm to hold the brown bottle with red label and shake it.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Shake the long thin bottle after lifting it.", + "Use the right arm to pick and shake the bottle with white neck and red top.", + "Grab the narrow-necked bottle and shake it steadily.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Shake the the long thin bottle properly after lifting.", + "Grab the brown bottle with red label and move it to shake.", + "Use the right arm to grab the plastic drink bottle and shake it.", + "Shake the plastic drink bottle after grabbing it.", + "Grasp the smooth bottle with red lid with the right arm and shake it.", + "With the right arm, pick the Coca-Cola bottle and shake properly.", + "Hold the brown bottle with red label with the right arm and shake lightly." + ], + "unseen": [ + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode252.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode252.json new file mode 100644 index 0000000000000000000000000000000000000000..04a954cf688191bcc0fa86be04f21ec18e6e7a63 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode252.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with ridges near base after grabbing it.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "Pick up the bottle with rounded neck and shake it.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Lift the bottle with white printed label with the right arm and give it a shake.", + "Grip the bottle with narrow top using the right arm and shake.", + "Lift the medium green bottle with capped neck with the right arm and shake.", + "Shake the medium-sized green bottle firmly after grabbing.", + "With the right arm, pick the smooth green bottle and shake properly.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Take the medium-sized green bottle using the right arm and give it a shake.", + "Grab the plastic bottle carefully and shake.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Lift up the plastic bottle using the right arm, then shake.", + "Use the right arm to pick and shake the bottle with rounded neck.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Use the right arm to hold the medium-sized green bottle and shake it.", + "Pick up the handheld green bottle and shake it well.", + "Shake the smooth green bottle after holding it firmly.", + "Grab and shake the smooth green bottle using the right arm.", + "Shake the bottle with rounded neck after grabbing it.", + "Pick the bottle with narrow top up with the right arm and shake.", + "Pick the bottle with narrow top up using the right arm and shake it.", + "Pick the medium-sized green bottle, shake it with the right arm.", + "Shake the medium green bottle after lifting it.", + "Lift the plastic bottle and shake it thoroughly.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Lift the bottle with rounded neck and shake it gently.", + "Grab the bottle with rounded neck and shake it steadily.", + "Use the right arm to grab the bottle with rounded neck and shake properly.", + "Grab the bottle with ridges near base and give it a shake.", + "Hold the smooth green bottle, shake it briefly.", + "Utilize the right arm to hold the bottle with white printed label and shake it.", + "Grab the bottle with ridges near base with the right arm and shake.", + "Grasp the plastic bottle with the right arm and shake it.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Hold the bottle with narrow top and shake it properly.", + "Lift the bottle with narrow top with the right arm and shake it.", + "Shake the green bottle with indented base using the right arm after grabbing.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Secure the green bottle with indented base and perform a shake.", + "Grab the bottle with white printed label and move it to shake.", + "Hold the bottle with rounded neck steady, then shake it.", + "Catch the bottle with white printed label and shake it instantly.", + "Grab the bottle with rounded neck using the right arm, then shake.", + "Shake the smooth green plastic bottle after grabbing it.", + "Use the right arm to grab the smooth green plastic bottle and shake it.", + "Pick up the medium green bottle with capped neck and shake it.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Grip the medium green bottle with capped neck using the right arm and shake.", + "Lift the handheld green bottle with the right arm and shake.", + "Shake the bottle with narrow top firmly after grabbing.", + "With the right arm, pick the bottle with ridges near base and shake properly.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Take the bottle with white printed label using the right arm and give it a shake.", + "Grab the medium-sized green bottle carefully and shake.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Lift up the smooth green plastic bottle using the right arm, then shake.", + "Use the right arm to pick and shake the bottle with narrow top.", + "Use the right arm to lift and shake the handheld green bottle.", + "Use the right arm to hold the bottle with white printed label and shake it.", + "Pick up the handheld green bottle and shake it well.", + "Shake the bottle with ridges near base after holding it firmly.", + "Grab and shake the medium-sized green bottle using the right arm.", + "Shake the handheld green bottle after grabbing it.", + "Pick the bottle with narrow top up with the right arm and shake.", + "Pick the medium green bottle with capped neck up using the right arm and shake it.", + "Pick the bottle with white printed label, shake it with the right arm.", + "Shake the smooth green bottle after lifting it.", + "Lift the handheld green bottle and shake it thoroughly.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Using the right arm, shake the bottle with ridges near base and then place it back.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Grab the medium-sized green bottle and shake it steadily.", + "Use the right arm to grab the bottle with narrow top and shake properly.", + "Grab the bottle with white printed label and give it a shake.", + "Hold the bottle with ridges near base, shake it briefly.", + "Utilize the right arm to hold the smooth green bottle and shake it.", + "Grab the plastic bottle with the right arm and shake.", + "Grasp the bottle with ridges near base with the right arm and shake it.", + "Shake the the green bottle with indented base properly after lifting.", + "Hold the handheld green bottle and shake it properly.", + "Lift the medium-sized green bottle with the right arm and shake it.", + "Shake the green bottle with indented base using the right arm after grabbing.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Shake the bottle with rounded neck after grabbing it.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Secure the plastic bottle and perform a shake.", + "Grab the bottle with narrow top and move it to shake.", + "Hold the handheld green bottle steady, then shake it.", + "Catch the plastic bottle and shake it instantly.", + "Grab the medium-sized green bottle using the right arm, then shake." + ], + "unseen": [ + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode253.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode253.json new file mode 100644 index 0000000000000000000000000000000000000000..78544a1d62c0c62ab6de893eca823e9344e51340 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode253.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift up the handheld green bottle using the left arm, then shake.", + "Grab the bottle with ridges near base and shake it steadily.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Use the left arm to grab the smooth green bottle and shake it.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Pick up the medium green bottle with capped neck and shake it.", + "Shake the bottle with rounded neck after grabbing it.", + "Use the left arm to hold the smooth green plastic bottle and shake it.", + "Hold the bottle with narrow top with the left arm and shake lightly.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Take the bottle with ridges near base using the left arm and give it a shake.", + "Secure the bottle with narrow top, shake it, and place it down.", + "With the left arm, pick the medium green bottle with capped neck and shake properly.", + "Hold the smooth green bottle, shake it briefly.", + "Shake the bottle with rounded neck after holding it firmly.", + "Grab the handheld green bottle using the left arm, then shake.", + "Use the left arm to pick and shake the bottle with rounded neck.", + "Use the left arm to lift and shake the smooth green bottle.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Pick the smooth green bottle, shake it with the left arm.", + "Grab the medium green bottle and move it to shake.", + "Catch the green bottle with indented base and shake it instantly.", + "Grab and shake the green bottle with indented base using the left arm.", + "Grab the green bottle with indented base with the left arm and shake.", + "Lift the plastic bottle with the left arm and shake.", + "Shake the bottle with white printed label using the left arm after grabbing.", + "Hold and shake the the bottle with ridges near base carefully.", + "Shake the green bottle with indented base firmly after grabbing.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Pick up the bottle with narrow top and shake it well.", + "Hold the bottle with ridges near base and shake it properly.", + "Grasp the medium green bottle with capped neck with the left arm and shake it.", + "Pick the green bottle with indented base up with the left arm and shake.", + "Shake the bottle with ridges near base after lifting it.", + "Use the left arm to lift and shake the plastic bottle.", + "Grab the bottle with narrow top and give it a shake.", + "Lift the plastic bottle with the left arm and shake it.", + "Grip the smooth green bottle using the left arm and shake.", + "Hold the medium-sized green bottle steady, then shake it.", + "Pick the bottle with narrow top and perform shaking motion.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Pick the bottle with rounded neck up using the left arm and shake it.", + "Shake the handheld green bottle after grabbing it.", + "Grab the smooth green plastic bottle carefully and shake.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Use the left arm to grab the medium green bottle and shake properly.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Lift the handheld green bottle and shake it gently.", + "Secure the medium-sized green bottle and perform a shake.", + "Lift up the medium green bottle using the left arm, then shake.", + "Grab the medium green bottle and shake it steadily.", + "Using the left arm, shake the handheld green bottle and then place it back.", + "Use the left arm to grab the medium green bottle with capped neck and shake it.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Pick up the medium green bottle and shake it.", + "Shake the smooth green bottle after grabbing it.", + "Use the left arm to hold the bottle with ridges near base and shake it.", + "Hold the medium-sized green bottle with the left arm and shake lightly.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Take the medium green bottle using the left arm and give it a shake.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "With the left arm, pick the medium-sized green bottle and shake properly.", + "Hold the medium green bottle with capped neck, shake it briefly.", + "Shake the smooth green bottle after holding it firmly.", + "Grab the smooth green plastic bottle using the left arm, then shake.", + "Use the left arm to pick and shake the bottle with white printed label.", + "Use the left arm to lift and shake the handheld green bottle.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Grab the smooth green plastic bottle and move it to shake.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Grab and shake the medium green bottle using the left arm.", + "Grab the medium-sized green bottle with the left arm and shake.", + "Lift the medium green bottle with capped neck with the left arm and shake.", + "Shake the medium-sized green bottle using the left arm after grabbing.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Shake the bottle with white printed label firmly after grabbing.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Pick up the bottle with ridges near base and shake it well.", + "Hold the medium green bottle and shake it properly.", + "Grasp the plastic bottle with the left arm and shake it.", + "Pick the plastic bottle up with the left arm and shake.", + "Shake the medium green bottle with capped neck after lifting it.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Grab the handheld green bottle and give it a shake.", + "Lift the green bottle with indented base with the left arm and shake it.", + "Grip the bottle with rounded neck using the left arm and shake.", + "Hold the bottle with rounded neck steady, then shake it.", + "Pick the bottle with narrow top and perform shaking motion.", + "Shake the the handheld green bottle properly after lifting.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Pick the bottle with ridges near base up using the left arm and shake it.", + "Shake the bottle with rounded neck after grabbing it.", + "Grab the handheld green bottle carefully and shake.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Use the left arm to grab the handheld green bottle and shake properly.", + "Shake the plastic bottle after grabbing it.", + "Lift the bottle with rounded neck and shake it gently.", + "Secure the bottle with ridges near base and perform a shake." + ], + "unseen": [ + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode254.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode254.json new file mode 100644 index 0000000000000000000000000000000000000000..67585f2012c7b13c9d6eb22d7f5139fc0a1f721e --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode254.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the red-capped bottle and move it to shake.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Hold the red-capped bottle with the left arm and shake lightly.", + "Lift the medium dark brown bottle and shake it gently.", + "Hold the hand-sized soda bottle and shake it properly.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Grasp the long thin bottle with the left arm and shake it.", + "Grab the red-capped bottle carefully and shake.", + "Lift up the medium dark brown bottle using the left arm, then shake.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Secure the bottle with white neck and red top and perform a shake.", + "Using the left arm, shake the medium dark brown bottle and then place it back.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Grab the smooth bottle with red lid using the left arm, then shake.", + "Shake the brown bottle with red label after grabbing it.", + "Shake the narrow-necked bottle after grabbing it.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Pick the bottle with white neck and red top up with the left arm and shake.", + "Secure the long thin bottle, shake it, and place it down.", + "Lift the red-capped bottle with the left arm and shake.", + "Utilize the left arm to hold the plastic drink bottle and shake it.", + "Lift the long thin bottle and shake it thoroughly.", + "With the left arm, pick the hand-sized soda bottle and shake properly.", + "Grab and shake the brown bottle with red label using the left arm.", + "Grip the bottle with white neck and red top using the left arm and shake.", + "Lift the plastic drink bottle with the left arm and shake it.", + "Use the left arm to grab the long thin bottle and shake properly.", + "Grab the red-capped bottle with the left arm and shake.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Grab the plastic drink bottle and give it a shake.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Use the left arm to hold the smooth bottle with red lid and shake it.", + "Pick up the red-capped bottle and shake it.", + "Use the left arm to lift and shake the long thin bottle.", + "Shake the dark drink bottle with logo after lifting it.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Use the left arm to grab the red-capped bottle and shake it.", + "Pick up the narrow-necked bottle and shake it well.", + "Shake the plastic drink bottle after grabbing it.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "Use the left arm to pick and shake the Coca-Cola bottle.", + "Grab the long thin bottle and shake it steadily.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Take the dark drink bottle with logo using the left arm and give it a shake.", + "Hold the red-capped bottle with the left arm and shake lightly.", + "Lift the brown bottle with red label and shake it gently.", + "Hold the dark drink bottle with logo and shake it properly.", + "Shake the the narrow-necked bottle properly after lifting.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Lift up the Coca-Cola bottle using the left arm, then shake.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Pick the red-capped bottle, shake it with the left arm.", + "Secure the narrow-necked bottle and perform a shake.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Pick the medium dark brown bottle up using the left arm and shake it.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Grab the long thin bottle using the left arm, then shake.", + "Shake the long thin bottle after grabbing it.", + "Shake the plastic drink bottle after grabbing it.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Catch the medium dark brown bottle and shake it instantly.", + "Pick the brown bottle with red label up with the left arm and shake.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Utilize the left arm to hold the Coca-Cola bottle and shake it.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Grab and shake the Coca-Cola bottle using the left arm.", + "Grip the red-capped bottle using the left arm and shake.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Use the left arm to grab the plastic drink bottle and shake properly.", + "Grab the bottle with white neck and red top with the left arm and shake.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Grab the hand-sized soda bottle and give it a shake.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Shake the red-capped bottle firmly after grabbing.", + "Use the left arm to hold the Coca-Cola bottle and shake it.", + "Pick up the smooth bottle with red lid and shake it.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Shake the Coca-Cola bottle after lifting it.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Use the left arm to grab the brown bottle with red label and shake it.", + "Pick up the Coca-Cola bottle and shake it well.", + "Shake the medium dark brown bottle after grabbing it.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Use the left arm to pick and shake the red-capped bottle.", + "Grab the plastic drink bottle and shake it steadily.", + "Pick the bottle with white neck and red top and perform shaking motion." + ], + "unseen": [ + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode255.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode255.json new file mode 100644 index 0000000000000000000000000000000000000000..295a26aaca96bb9ca151d0e6be25832704a1b33c --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode255.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the Coca-Cola bottle with the left arm and shake.", + "Grab the long thin bottle carefully and shake.", + "Pick the red-capped bottle, shake it with the left arm.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Shake the brown bottle with red label after grabbing it.", + "Shake the red-capped bottle after grabbing it.", + "Use the left arm to grab the long thin bottle and shake properly.", + "Secure the smooth bottle with red lid and perform a shake.", + "Grab and shake the medium dark brown bottle using the left arm.", + "Shake the smooth bottle with red lid after grabbing it.", + "Shake the medium dark brown bottle after lifting it.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Pick up the bottle with ridges on bottom and shake it.", + "Use the left arm to grab the narrow-necked bottle and shake it.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Use the left arm to pick and shake the brown bottle with red label.", + "Secure the red-capped bottle, shake it, and place it down.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Take the long thin bottle using the left arm and give it a shake.", + "Pick up the hand-sized soda bottle and shake it well.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Grab the narrow-necked bottle and shake it steadily.", + "Shake the brown bottle with red label firmly after grabbing.", + "Grab the hand-sized soda bottle and give it a shake.", + "Grab the plastic drink bottle and move it to shake.", + "Use the left arm to lift and shake the red-capped bottle.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Hold the plastic drink bottle with the left arm and shake lightly.", + "Using the left arm, shake the medium dark brown bottle and then place it back.", + "Grab the Coca-Cola bottle using the left arm, then shake.", + "Hold and shake the the plastic drink bottle carefully.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "Grasp the bottle with white neck and red top with the left arm and shake it.", + "Lift up the Coca-Cola bottle using the left arm, then shake.", + "With the left arm, pick the brown bottle with red label and shake properly.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Use the left arm to hold the Coca-Cola bottle and shake it.", + "Pick the plastic drink bottle up using the left arm and shake it.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "Lift the hand-sized soda bottle and shake it gently.", + "Use the left arm to lift and shake the red-capped bottle.", + "Lift the red-capped bottle and shake it thoroughly.", + "Grab the smooth bottle with red lid with the left arm and shake.", + "Lift the plastic drink bottle with the left arm and shake.", + "Grab the narrow-necked bottle carefully and shake.", + "Pick the medium dark brown bottle, shake it with the left arm.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Secure the dark drink bottle with logo and perform a shake.", + "Grab and shake the Coca-Cola bottle using the left arm.", + "Shake the Coca-Cola bottle after grabbing it.", + "Shake the medium dark brown bottle after lifting it.", + "Hold the dark drink bottle with logo and shake it properly.", + "Pick up the brown bottle with red label and shake it.", + "Use the left arm to grab the plastic drink bottle and shake it.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Use the left arm to pick and shake the long thin bottle.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Hold the brown bottle with red label, shake it briefly.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Pick up the Coca-Cola bottle and shake it well.", + "Shake the the plastic drink bottle properly after lifting.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Shake the red-capped bottle using the left arm after grabbing.", + "Grab the red-capped bottle and shake it steadily.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Grab the plastic drink bottle and give it a shake.", + "Grab the brown bottle with red label and move it to shake.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Grip the bottle with white neck and red top using the left arm and shake.", + "Hold the medium dark brown bottle with the left arm and shake lightly.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "Grab the bottle with ridges on bottom using the left arm, then shake.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Pick the plastic drink bottle and perform shaking motion.", + "Pick the medium dark brown bottle up with the left arm and shake.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Lift up the hand-sized soda bottle using the left arm, then shake.", + "With the left arm, pick the hand-sized soda bottle and shake properly.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Utilize the left arm to hold the narrow-necked bottle and shake it.", + "Use the left arm to hold the long thin bottle and shake it.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Hold the medium dark brown bottle steady, then shake it.", + "Lift the bottle with ridges on bottom with the left arm and give it a shake.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Lift the brown bottle with red label and shake it gently.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Grab the medium dark brown bottle with the left arm and shake." + ], + "unseen": [ + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode256.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode256.json new file mode 100644 index 0000000000000000000000000000000000000000..13a52b838d499f83ffa97c59fa48fd42dd96049e --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode256.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the medium-sized green bottle using the left arm and shake.", + "Hold and shake the the bottle with rounded neck carefully.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Use the left arm to grab the medium green bottle and shake it.", + "Take the plastic bottle using the left arm and give it a shake.", + "Pick up the medium-sized green bottle and shake it.", + "Lift the medium-sized green bottle with the left arm and shake.", + "Catch the bottle with narrow top and shake it instantly.", + "Grab the smooth green bottle and move it to shake.", + "Grab and shake the medium green bottle with capped neck using the left arm.", + "Lift the bottle with rounded neck with the left arm and shake it.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Shake the smooth green bottle after grabbing it.", + "Hold the smooth green bottle, shake it briefly.", + "Hold the bottle with rounded neck with the left arm and shake lightly.", + "Lift the bottle with rounded neck and shake it gently.", + "Shake the bottle with ridges near base after lifting it.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Grasp the medium green bottle with the left arm and shake it.", + "Grab the medium green bottle with the left arm and shake.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "With the left arm, pick the bottle with white printed label and shake properly.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Use the left arm to pick and shake the bottle with white printed label.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Hold the medium-sized green bottle and shake it properly.", + "Secure the bottle with narrow top and perform a shake.", + "Shake the medium-sized green bottle using the left arm after grabbing.", + "Lift the medium green bottle with the left arm and give it a shake.", + "Grab the plastic bottle using the left arm, then shake.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Pick the bottle with white printed label, shake it with the left arm.", + "Pick the bottle with ridges near base up using the left arm and shake it.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Using the left arm, shake the bottle with white printed label and then place it back.", + "Lift up the smooth green plastic bottle using the left arm, then shake.", + "Shake the bottle with white printed label after grabbing it.", + "Shake the bottle with rounded neck after grabbing it.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Pick the medium-sized green bottle up with the left arm and shake.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Shake the the bottle with rounded neck properly after lifting.", + "Use the left arm to hold the handheld green bottle and shake it.", + "Grab the bottle with rounded neck and shake it steadily.", + "Use the left arm to lift and shake the medium green bottle.", + "Grip the green bottle with indented base using the left arm and shake.", + "Hold and shake the the handheld green bottle carefully.", + "Use the left arm to grab the bottle with white printed label and shake properly.", + "Hold the bottle with narrow top steady, then shake it.", + "Use the left arm to grab the green bottle with indented base and shake it.", + "Take the bottle with ridges near base using the left arm and give it a shake.", + "Pick up the green bottle with indented base and shake it.", + "Lift the plastic bottle with the left arm and shake.", + "Catch the bottle with rounded neck and shake it instantly.", + "Grab the plastic bottle and move it to shake.", + "Grab and shake the medium-sized green bottle using the left arm.", + "Lift the green bottle with indented base with the left arm and shake it.", + "Pick up the bottle with narrow top and shake it well.", + "Grab the bottle with ridges near base carefully and shake.", + "Shake the smooth green bottle after grabbing it.", + "Hold the plastic bottle, shake it briefly.", + "Hold the medium-sized green bottle with the left arm and shake lightly.", + "Lift the medium-sized green bottle and shake it gently.", + "Shake the smooth green bottle after lifting it.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Grasp the medium green bottle with capped neck with the left arm and shake it.", + "Grab the green bottle with indented base with the left arm and shake.", + "Shake the handheld green bottle firmly after grabbing.", + "With the left arm, pick the plastic bottle and shake properly.", + "Grab the medium-sized green bottle and give it a shake.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Secure the medium green bottle, shake it, and place it down.", + "Hold the medium green bottle and shake it properly.", + "Secure the medium green bottle and perform a shake.", + "Shake the handheld green bottle using the left arm after grabbing.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Grab the medium green bottle using the left arm, then shake.", + "Shake the handheld green bottle after holding it firmly.", + "Pick the bottle with narrow top, shake it with the left arm.", + "Pick the medium-sized green bottle up using the left arm and shake it.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Pick the smooth green bottle and perform shaking motion.", + "Using the left arm, shake the medium-sized green bottle and then place it back.", + "Lift up the smooth green bottle using the left arm, then shake.", + "Shake the bottle with rounded neck after grabbing it.", + "Shake the medium-sized green bottle after grabbing it.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Pick the handheld green bottle up with the left arm and shake.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Shake the the bottle with rounded neck properly after lifting.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Grab the bottle with narrow top and shake it steadily.", + "Use the left arm to lift and shake the bottle with narrow top." + ], + "unseen": [ + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle with white label after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode257.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode257.json new file mode 100644 index 0000000000000000000000000000000000000000..2cde1edec6d240e796d6ec37dce046b87638ee59 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode257.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the plastic drink bottle with the left arm and give it a shake.", + "Hold the plastic drink bottle steady, then shake it.", + "Shake the smooth bottle with red lid after lifting it.", + "Lift the bottle with white neck and red top with the left arm and shake.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Shake the plastic drink bottle firmly after grabbing.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Pick up the medium dark brown bottle and shake it well.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Use the left arm to pick and shake the narrow-necked bottle.", + "Grab the medium dark brown bottle and shake it steadily.", + "Hold the brown bottle with red label, shake it briefly.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Lift up the narrow-necked bottle using the left arm, then shake.", + "Grab and shake the bottle with white neck and red top using the left arm.", + "Grasp the long thin bottle with the left arm and shake it.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Utilize the left arm to hold the narrow-necked bottle and shake it.", + "Use the left arm to hold the medium dark brown bottle and shake it.", + "Shake the bottle with white neck and red top after grabbing it.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Lift the smooth bottle with red lid and shake it gently.", + "Shake the the plastic drink bottle properly after lifting.", + "Grab the hand-sized soda bottle carefully and shake.", + "Grab the dark drink bottle with logo and give it a shake.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Hold the Coca-Cola bottle and shake it properly.", + "Grab the medium dark brown bottle and move it to shake.", + "Catch the narrow-necked bottle and shake it instantly.", + "Use the left arm to lift and shake the red-capped bottle.", + "Shake the narrow-necked bottle after grabbing it.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Grab the smooth bottle with red lid using the left arm, then shake.", + "Pick up the plastic drink bottle and shake it.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Pick the long thin bottle up using the left arm and shake it.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Secure the hand-sized soda bottle and perform a shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Pick the smooth bottle with red lid up with the left arm and shake.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Pick the brown bottle with red label and perform shaking motion.", + "Lift the long thin bottle with the left arm and give it a shake.", + "Hold the medium dark brown bottle steady, then shake it.", + "Shake the long thin bottle after lifting it.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Take the Coca-Cola bottle using the left arm and give it a shake.", + "Pick up the red-capped bottle and shake it well.", + "Lift the narrow-necked bottle with the left arm and shake it.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Use the left arm to pick and shake the long thin bottle.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Shake the smooth bottle with red lid using the left arm after grabbing.", + "Hold the red-capped bottle with the left arm and shake lightly.", + "Lift up the narrow-necked bottle using the left arm, then shake.", + "Grab and shake the narrow-necked bottle using the left arm.", + "Grasp the bottle with white neck and red top with the left arm and shake it.", + "Shake the long thin bottle after holding it firmly.", + "Utilize the left arm to hold the hand-sized soda bottle and shake it.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Shake the smooth bottle with red lid after grabbing it.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Lift the long thin bottle and shake it thoroughly.", + "Lift the medium dark brown bottle and shake it gently.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Grab the Coca-Cola bottle carefully and shake.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Grip the bottle with white neck and red top using the left arm and shake.", + "Hold the brown bottle with red label and shake it properly.", + "Grab the medium dark brown bottle and move it to shake.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Use the left arm to lift and shake the long thin bottle.", + "Shake the Coca-Cola bottle after grabbing it.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Grab the dark drink bottle with logo using the left arm, then shake.", + "Pick up the plastic drink bottle and shake it.", + "Pick the bottle with ridges on bottom, shake it with the left arm.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Use the left arm to grab the brown bottle with red label and shake properly.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Pick the medium dark brown bottle up with the left arm and shake.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Grab the hand-sized soda bottle with the left arm and shake.", + "Pick the smooth bottle with red lid and perform shaking motion." + ], + "unseen": [ + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode258.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode258.json new file mode 100644 index 0000000000000000000000000000000000000000..02d7c5d94466b6864823389aa4dab41f22d38418 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode258.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with white neck and red top and give it a shake.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Grab the dark drink bottle with logo and move it to shake.", + "Secure the hand-sized soda bottle and perform a shake.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Grasp the hand-sized soda bottle with the left arm and shake it.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Grab the medium dark brown bottle with the left arm and shake.", + "Grab the brown bottle with red label carefully and shake.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Lift the long thin bottle with the left arm and give it a shake.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Shake the red-capped bottle firmly after grabbing.", + "Pick up the bottle with white neck and red top and shake it.", + "Shake the narrow-necked bottle after grabbing it.", + "Lift the Coca-Cola bottle with the left arm and shake.", + "Using the left arm, shake the bottle with white neck and red top and then place it back.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Grip the Coca-Cola bottle using the left arm and shake.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Shake the bottle with white neck and red top after lifting it.", + "Lift up the red-capped bottle using the left arm, then shake.", + "Hold the dark drink bottle with logo and shake it properly.", + "Catch the brown bottle with red label and shake it instantly.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Grab the red-capped bottle and shake it steadily.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Lift the plastic drink bottle and shake it gently.", + "Use the left arm to lift and shake the long thin bottle.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Shake the Coca-Cola bottle after grabbing it.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Use the left arm to hold the Coca-Cola bottle and shake it.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Use the left arm to pick and shake the narrow-necked bottle.", + "With the left arm, pick the smooth bottle with red lid and shake properly.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Use the left arm to grab the plastic drink bottle and shake it.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Pick the dark drink bottle with logo, shake it with the left arm.", + "Grab the bottle with white neck and red top using the left arm, then shake.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Grab the medium dark brown bottle and give it a shake.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Secure the narrow-necked bottle and perform a shake.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Grasp the bottle with white neck and red top with the left arm and shake it.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Grab the brown bottle with red label with the left arm and shake.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Take the bottle with white neck and red top using the left arm and give it a shake.", + "Shake the brown bottle with red label after grabbing it.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Use the left arm to grab the Coca-Cola bottle and shake properly.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Pick up the brown bottle with red label and shake it.", + "Shake the brown bottle with red label after grabbing it.", + "Lift the bottle with white neck and red top with the left arm and shake.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Grip the narrow-necked bottle using the left arm and shake.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Shake the hand-sized soda bottle after lifting it.", + "Lift up the narrow-necked bottle using the left arm, then shake.", + "Hold the Coca-Cola bottle and shake it properly.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Shake the the plastic drink bottle properly after lifting.", + "Grab the brown bottle with red label and shake it steadily.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Lift the hand-sized soda bottle and shake it gently.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Pick up the smooth bottle with red lid and shake it well.", + "Shake the Coca-Cola bottle after grabbing it.", + "Hold the plastic drink bottle steady, then shake it.", + "Use the left arm to hold the dark drink bottle with logo and shake it.", + "Grab and shake the brown bottle with red label using the left arm.", + "Use the left arm to pick and shake the narrow-necked bottle.", + "With the left arm, pick the bottle with white neck and red top and shake properly.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Pick the dark drink bottle with logo up using the left arm and shake it.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Pick the medium dark brown bottle up with the left arm and shake.", + "Pick the medium dark brown bottle, shake it with the left arm.", + "Grab the bottle with ridges on bottom using the left arm, then shake.", + "Lift the long thin bottle with the left arm and shake it.", + "Hold the dark drink bottle with logo with the left arm and shake lightly." + ], + "unseen": [ + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the bottle with red screw cap." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode259.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode259.json new file mode 100644 index 0000000000000000000000000000000000000000..dbe330555ffbc263d049ff045a392f4d940e02f1 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode259.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the smooth green plastic bottle up with the right arm and shake.", + "Pick up the green bottle with indented base and shake it.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Pick the bottle with white printed label, shake it with the right arm.", + "Grasp the medium green bottle with the right arm and shake it.", + "Utilize the right arm to hold the handheld green bottle and shake it.", + "Catch the smooth green bottle and shake it instantly.", + "Grab the medium green bottle and give it a shake.", + "Pick up the smooth green plastic bottle and shake it well.", + "Secure the plastic bottle and perform a shake.", + "Use the right arm to grab the bottle with ridges near base and shake properly.", + "Take the green bottle with indented base using the right arm and give it a shake.", + "Shake the bottle with narrow top after grabbing it.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Pick the bottle with rounded neck up using the right arm and shake it.", + "Shake the bottle with ridges near base after grabbing it.", + "Lift the bottle with narrow top with the right arm and shake it.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Use the right arm to lift and shake the handheld green bottle.", + "Use the right arm to pick and shake the plastic bottle.", + "Hold the handheld green bottle and shake it properly.", + "Shake the bottle with rounded neck after lifting it.", + "Lift the medium green bottle with capped neck with the right arm and shake.", + "Grab the green bottle with indented base with the right arm and shake.", + "Shake the plastic bottle using the right arm after grabbing.", + "Lift the medium green bottle and shake it gently.", + "Grab and shake the plastic bottle using the right arm.", + "Shake the bottle with rounded neck after holding it firmly.", + "Grip the bottle with white printed label using the right arm and shake.", + "Shake the plastic bottle firmly after grabbing.", + "Lift up the green bottle with indented base using the right arm, then shake.", + "Hold the bottle with rounded neck with the right arm and shake lightly.", + "Lift the medium green bottle with capped neck with the right arm and give it a shake.", + "Hold and shake the the medium green bottle carefully.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Grab the medium green bottle carefully and shake.", + "Grab the handheld green bottle using the right arm, then shake.", + "Using the right arm, shake the bottle with rounded neck and then place it back.", + "Shake the the plastic bottle properly after lifting.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Hold the handheld green bottle steady, then shake it.", + "Grab the bottle with ridges near base and move it to shake.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Use the right arm to grab the medium green bottle and shake it.", + "Shake the medium green bottle after grabbing it.", + "With the right arm, pick the bottle with white printed label and shake properly.", + "Use the right arm to hold the green bottle with indented base and shake it.", + "Grab the medium green bottle with capped neck and shake it steadily.", + "Hold the green bottle with indented base, shake it briefly.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Pick the medium-sized green bottle up with the right arm and shake.", + "Pick up the bottle with white printed label and shake it.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Pick the green bottle with indented base, shake it with the right arm.", + "Grasp the green bottle with indented base with the right arm and shake it.", + "Utilize the right arm to hold the smooth green plastic bottle and shake it.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Grab the bottle with rounded neck and give it a shake.", + "Pick up the bottle with narrow top and shake it well.", + "Secure the plastic bottle and perform a shake.", + "Use the right arm to grab the medium green bottle with capped neck and shake properly.", + "Take the medium green bottle with capped neck using the right arm and give it a shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Pick the medium-sized green bottle up using the right arm and shake it.", + "Shake the bottle with white printed label after grabbing it.", + "Lift the plastic bottle with the right arm and shake it.", + "Use the right arm to lift and shake the smooth green bottle.", + "Use the right arm to lift and shake the handheld green bottle.", + "Use the right arm to pick and shake the medium green bottle.", + "Hold the medium-sized green bottle and shake it properly.", + "Shake the bottle with rounded neck after lifting it.", + "Lift the medium-sized green bottle with the right arm and shake.", + "Grab the bottle with rounded neck with the right arm and shake.", + "Shake the bottle with ridges near base using the right arm after grabbing.", + "Lift the plastic bottle and shake it gently.", + "Grab and shake the bottle with rounded neck using the right arm.", + "Shake the medium green bottle after holding it firmly.", + "Grip the bottle with ridges near base using the right arm and shake.", + "Shake the bottle with narrow top firmly after grabbing.", + "Lift up the plastic bottle using the right arm, then shake.", + "Hold the medium-sized green bottle with the right arm and shake lightly.", + "Lift the green bottle with indented base with the right arm and give it a shake.", + "Hold and shake the the medium green bottle carefully.", + "Secure the smooth green bottle, shake it, and place it down.", + "Grab the plastic bottle carefully and shake.", + "Grab the smooth green plastic bottle using the right arm, then shake.", + "Using the right arm, shake the bottle with rounded neck and then place it back.", + "Shake the the plastic bottle properly after lifting.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Hold the bottle with white printed label steady, then shake it.", + "Grab the bottle with ridges near base and move it to shake.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Use the right arm to grab the medium green bottle with capped neck and shake it.", + "Shake the bottle with rounded neck after grabbing it.", + "With the right arm, pick the bottle with narrow top and shake properly.", + "Use the right arm to hold the plastic bottle and shake it.", + "Grab the medium green bottle with capped neck and shake it steadily.", + "Hold the bottle with white printed label, shake it briefly.", + "Grab the bottle with white printed label firmly, shake it, and put it down." + ], + "unseen": [ + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode26.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..9fbdef8241e3082efb342b78d6392986bd6a71f8 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the narrow-necked bottle, shake it, and place it down.", + "Grab the medium dark brown bottle and give it a shake.", + "Grip the brown bottle with red label using the left arm and shake.", + "Grab the hand-sized soda bottle and move it to shake.", + "Lift the medium dark brown bottle and shake it gently.", + "Pick up the red-capped bottle and shake it.", + "Utilize the left arm to hold the narrow-necked bottle and shake it.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Hold the red-capped bottle and shake it properly.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Pick up the medium dark brown bottle and shake it well.", + "Lift up the plastic drink bottle using the left arm, then shake.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Shake the plastic drink bottle after lifting it.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Shake the long thin bottle after holding it firmly.", + "Pick the narrow-necked bottle up with the left arm and shake.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Lift the narrow-necked bottle with the left arm and give it a shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grab the smooth bottle with red lid carefully and shake.", + "Use the left arm to pick and shake the brown bottle with red label.", + "Secure the Coca-Cola bottle and perform a shake.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "With the left arm, pick the long thin bottle and shake properly.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Catch the plastic drink bottle and shake it instantly.", + "Use the left arm to hold the medium dark brown bottle and shake it.", + "Shake the narrow-necked bottle using the left arm after grabbing.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the left arm to grab the Coca-Cola bottle and shake properly.", + "Hold the Coca-Cola bottle with the left arm and shake lightly.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Grab the red-capped bottle with the left arm and shake.", + "Shake the plastic drink bottle after grabbing it.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Grab and shake the medium dark brown bottle using the left arm.", + "Shake the red-capped bottle firmly after grabbing.", + "Grab the plastic drink bottle using the left arm, then shake.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Hold the brown bottle with red label, shake it briefly.", + "Use the left arm to grab the plastic drink bottle and shake it.", + "Pick the bottle with ridges on bottom, shake it with the left arm.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Grab the plastic drink bottle and give it a shake.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Grab the smooth bottle with red lid and move it to shake.", + "Lift the medium dark brown bottle and shake it gently.", + "Pick up the narrow-necked bottle and shake it.", + "Utilize the left arm to hold the hand-sized soda bottle and shake it.", + "Lift the red-capped bottle with the left arm and shake.", + "Use the left arm to lift and shake the red-capped bottle.", + "Hold the narrow-necked bottle and shake it properly.", + "Hold the brown bottle with red label steady, then shake it.", + "Pick up the bottle with white neck and red top and shake it well.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Lift the red-capped bottle and shake it thoroughly.", + "Shake the bottle with white neck and red top after lifting it.", + "Pick the long thin bottle and perform shaking motion.", + "Shake the narrow-necked bottle after holding it firmly.", + "Pick the narrow-necked bottle up with the left arm and shake.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Lift the narrow-necked bottle with the left arm and give it a shake.", + "Shake the long thin bottle after grabbing it.", + "Grab the Coca-Cola bottle carefully and shake.", + "Use the left arm to pick and shake the plastic drink bottle.", + "Secure the plastic drink bottle and perform a shake.", + "Using the left arm, shake the smooth bottle with red lid and then place it back.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Take the hand-sized soda bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "With the left arm, pick the brown bottle with red label and shake properly.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Catch the narrow-necked bottle and shake it instantly.", + "Use the left arm to hold the red-capped bottle and shake it.", + "Shake the narrow-necked bottle using the left arm after grabbing.", + "Shake the red-capped bottle after grabbing it.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Grab the narrow-necked bottle with the left arm and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Grasp the narrow-necked bottle with the left arm and shake it.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Grab and shake the red-capped bottle using the left arm.", + "Shake the plastic drink bottle firmly after grabbing.", + "Grab the long thin bottle using the left arm, then shake.", + "Lift the Coca-Cola bottle with the left arm and shake it.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Pick the hand-sized soda bottle, shake it with the left arm." + ], + "unseen": [ + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode260.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode260.json new file mode 100644 index 0000000000000000000000000000000000000000..27130c923ecf9b2ecd8dac1257535e8d7eb08d1a --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode260.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the Coca-Cola bottle using the left arm and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Lift up the bottle with white neck and red top using the left arm, then shake.", + "Catch the plastic drink bottle and shake it instantly.", + "Grab the Coca-Cola bottle using the left arm, then shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Shake the the long thin bottle properly after lifting.", + "Grasp the long thin bottle with the left arm and shake it.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "Using the left arm, shake the red-capped bottle and then place it back.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Pick the smooth bottle with red lid, shake it with the left arm.", + "Lift the red-capped bottle and shake it gently.", + "Use the left arm to hold the long thin bottle and shake it.", + "Shake the plastic drink bottle after lifting it.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Grab the dark drink bottle with logo and give it a shake.", + "Grab and shake the Coca-Cola bottle using the left arm.", + "Pick up the hand-sized soda bottle and shake it well.", + "Grab the plastic drink bottle carefully and shake.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Pick the long thin bottle up with the left arm and shake.", + "Pick the plastic drink bottle up using the left arm and shake it.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "Lift the smooth bottle with red lid with the left arm and give it a shake.", + "Pick up the smooth bottle with red lid and shake it.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Take the Coca-Cola bottle using the left arm and give it a shake.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Hold the hand-sized soda bottle with the left arm and shake lightly.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Hold the brown bottle with red label steady, then shake it.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Hold the narrow-necked bottle and shake it properly.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Use the left arm to grab the red-capped bottle and shake properly.", + "With the left arm, pick the brown bottle with red label and shake properly.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Hold and shake the the long thin bottle carefully.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Shake the plastic drink bottle after grabbing it.", + "Shake the narrow-necked bottle after holding it firmly.", + "Lift up the long thin bottle using the left arm, then shake.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Grab the plastic drink bottle using the left arm, then shake.", + "Shake the red-capped bottle after grabbing it.", + "Shake the the medium dark brown bottle properly after lifting.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Grab the smooth bottle with red lid with the left arm and shake.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Shake the plastic drink bottle after grabbing it.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Lift the dark drink bottle with logo and shake it gently.", + "Use the left arm to hold the Coca-Cola bottle and shake it.", + "Shake the dark drink bottle with logo after lifting it.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Pick the plastic drink bottle and perform shaking motion.", + "Use the left arm to pick and shake the long thin bottle.", + "Grab the Coca-Cola bottle and give it a shake.", + "Grab and shake the plastic drink bottle using the left arm.", + "Pick up the brown bottle with red label and shake it well.", + "Grab the brown bottle with red label carefully and shake.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Pick the hand-sized soda bottle up with the left arm and shake.", + "Pick the smooth bottle with red lid up using the left arm and shake it.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Use the left arm to grab the Coca-Cola bottle and shake it.", + "Lift the plastic drink bottle with the left arm and shake it.", + "Lift the narrow-necked bottle with the left arm and give it a shake.", + "Pick up the brown bottle with red label and shake it.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Hold the red-capped bottle with the left arm and shake lightly.", + "Secure the hand-sized soda bottle and perform a shake.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Hold the medium dark brown bottle steady, then shake it.", + "Lift the long thin bottle with the left arm and shake.", + "Hold the red-capped bottle and shake it properly.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Use the left arm to grab the medium dark brown bottle and shake properly.", + "With the left arm, pick the plastic drink bottle and shake properly.", + "Grab the smooth bottle with red lid and move it to shake.", + "Hold and shake the the smooth bottle with red lid carefully." + ], + "unseen": [ + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode261.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode261.json new file mode 100644 index 0000000000000000000000000000000000000000..7c43792040941112cbd1d7419e27eac8ad844b14 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode261.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Pick the hand-sized soda bottle, shake it with the left arm.", + "Pick the brown bottle with red label and perform shaking motion.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Pick the long thin bottle up using the left arm and shake it.", + "Lift the long thin bottle with the left arm and shake.", + "Grasp the bottle with ridges on bottom with the left arm and shake it.", + "Use the left arm to grab the red-capped bottle and shake properly.", + "Hold the medium dark brown bottle with the left arm and shake lightly.", + "Shake the brown bottle with red label after grabbing it.", + "Pick up the plastic drink bottle and shake it well.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Shake the bottle with white neck and red top using the left arm after grabbing.", + "Use the left arm to hold the hand-sized soda bottle and shake it.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Hold the long thin bottle and shake it properly.", + "With the left arm, pick the bottle with white neck and red top and shake properly.", + "Grab the narrow-necked bottle and shake it steadily.", + "Lift the bottle with ridges on bottom with the left arm and give it a shake.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Hold and shake the the long thin bottle carefully.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Use the left arm to grab the red-capped bottle and shake it.", + "Using the left arm, shake the smooth bottle with red lid and then place it back.", + "Shake the Coca-Cola bottle after grabbing it.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Lift the dark drink bottle with logo and shake it gently.", + "Lift up the bottle with white neck and red top using the left arm, then shake.", + "Shake the plastic drink bottle after lifting it.", + "Lift the red-capped bottle and shake it thoroughly.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Grab the brown bottle with red label and move it to shake.", + "Secure the smooth bottle with red lid and perform a shake.", + "Lift the narrow-necked bottle with the left arm and shake it.", + "Grab the red-capped bottle with the left arm and shake.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Shake the plastic drink bottle after holding it firmly.", + "Pick up the brown bottle with red label and shake it.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Grab the narrow-necked bottle and give it a shake.", + "Grip the bottle with ridges on bottom using the left arm and shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Take the red-capped bottle using the left arm and give it a shake.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Grab the red-capped bottle carefully and shake.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Pick the brown bottle with red label, shake it with the left arm.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Pick the medium dark brown bottle up using the left arm and shake it.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Grasp the hand-sized soda bottle with the left arm and shake it.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Hold the medium dark brown bottle with the left arm and shake lightly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Use the left arm to pick and shake the medium dark brown bottle.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Hold the plastic drink bottle and shake it properly.", + "With the left arm, pick the narrow-necked bottle and shake properly.", + "Grab the narrow-necked bottle and shake it steadily.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Catch the red-capped bottle and shake it instantly.", + "Hold and shake the the brown bottle with red label carefully.", + "Grab the smooth bottle with red lid using the left arm, then shake.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Using the left arm, shake the long thin bottle and then place it back.", + "Shake the red-capped bottle after grabbing it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Lift the smooth bottle with red lid and shake it gently.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Shake the hand-sized soda bottle after lifting it.", + "Lift the red-capped bottle and shake it thoroughly.", + "Hold the plastic drink bottle steady, then shake it.", + "Grab the dark drink bottle with logo and move it to shake.", + "Secure the Coca-Cola bottle and perform a shake.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Grab the red-capped bottle with the left arm and shake.", + "Pick the bottle with white neck and red top up with the left arm and shake.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Pick up the red-capped bottle and shake it.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Grab the smooth bottle with red lid and give it a shake.", + "Grip the bottle with white neck and red top using the left arm and shake.", + "Shake the bottle with white neck and red top after grabbing it.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Take the medium dark brown bottle using the left arm and give it a shake.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Grab the dark drink bottle with logo carefully and shake." + ], + "unseen": [ + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode262.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode262.json new file mode 100644 index 0000000000000000000000000000000000000000..8a2bb469fb1d89f4aef460c92d78e1c901279043 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode262.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the smooth bottle with red lid with the right arm and shake it.", + "Grab the long thin bottle carefully and shake.", + "Using the right arm, shake the medium dark brown bottle and then place it back.", + "Pick the dark drink bottle with logo up using the right arm and shake it.", + "Use the right arm to pick and shake the red-capped bottle.", + "Hold the Coca-Cola bottle and shake it properly.", + "Lift the red-capped bottle with the right arm and give it a shake.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Pick the smooth bottle with red lid, shake it with the right arm.", + "Use the right arm to hold the narrow-necked bottle and shake it.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Shake the long thin bottle after holding it firmly.", + "With the right arm, pick the hand-sized soda bottle and shake properly.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Shake the medium dark brown bottle after grabbing it.", + "Pick up the bottle with ridges on bottom and shake it.", + "Utilize the right arm to hold the red-capped bottle and shake it.", + "Lift the narrow-necked bottle and shake it gently.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Use the right arm to grab the medium dark brown bottle and shake properly.", + "Catch the plastic drink bottle and shake it instantly.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Lift the hand-sized soda bottle with the right arm and shake.", + "Pick up the Coca-Cola bottle and shake it well.", + "Lift the hand-sized soda bottle with the right arm and shake it.", + "Grab the plastic drink bottle with the right arm and shake.", + "Shake the plastic drink bottle after grabbing it.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Shake the narrow-necked bottle after grabbing it.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Hold the medium dark brown bottle with the right arm and shake lightly.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Grab the brown bottle with red label using the right arm, then shake.", + "Grab and shake the dark drink bottle with logo using the right arm.", + "Shake the plastic drink bottle after lifting it.", + "Use the right arm to grab the long thin bottle and shake it.", + "Grab the smooth bottle with red lid and move it to shake.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Shake the Coca-Cola bottle using the right arm after grabbing.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Lift up the brown bottle with red label using the right arm, then shake.", + "Shake the the narrow-necked bottle properly after lifting.", + "Grip the Coca-Cola bottle using the right arm and shake.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Pick the plastic drink bottle up with the right arm and shake.", + "Take the bottle with ridges on bottom using the right arm and give it a shake.", + "Hold the brown bottle with red label steady, then shake it.", + "Secure the brown bottle with red label and perform a shake.", + "Grasp the long thin bottle with the right arm and shake it.", + "Grab the bottle with white neck and red top carefully and shake.", + "Using the right arm, shake the plastic drink bottle and then place it back.", + "Pick the brown bottle with red label up using the right arm and shake it.", + "Use the right arm to pick and shake the long thin bottle.", + "Hold the narrow-necked bottle and shake it properly.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Pick the red-capped bottle, shake it with the right arm.", + "Use the right arm to hold the bottle with white neck and red top and shake it.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Shake the brown bottle with red label after holding it firmly.", + "With the right arm, pick the Coca-Cola bottle and shake properly.", + "Hold and shake the the narrow-necked bottle carefully.", + "Shake the Coca-Cola bottle after grabbing it.", + "Pick up the plastic drink bottle and shake it.", + "Utilize the right arm to hold the plastic drink bottle and shake it.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Pick the brown bottle with red label and perform shaking motion.", + "Use the right arm to grab the brown bottle with red label and shake properly.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Lift the red-capped bottle with the right arm and shake.", + "Pick up the brown bottle with red label and shake it well.", + "Lift the bottle with ridges on bottom with the right arm and shake it.", + "Grab the long thin bottle with the right arm and shake.", + "Shake the brown bottle with red label after grabbing it.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grab the smooth bottle with red lid and give it a shake.", + "Hold the smooth bottle with red lid with the right arm and shake lightly.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Grab the plastic drink bottle using the right arm, then shake.", + "Grab and shake the Coca-Cola bottle using the right arm.", + "Shake the red-capped bottle after lifting it.", + "Use the right arm to grab the smooth bottle with red lid and shake it.", + "Grab the Coca-Cola bottle and move it to shake.", + "Hold the brown bottle with red label, shake it briefly.", + "Shake the dark drink bottle with logo using the right arm after grabbing.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Lift up the Coca-Cola bottle using the right arm, then shake.", + "Shake the the brown bottle with red label properly after lifting.", + "Grip the medium dark brown bottle using the right arm and shake.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Pick the brown bottle with red label up with the right arm and shake.", + "Take the bottle with ridges on bottom using the right arm and give it a shake.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Secure the medium dark brown bottle and perform a shake." + ], + "unseen": [ + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode263.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode263.json new file mode 100644 index 0000000000000000000000000000000000000000..ee47e9f0c4efad511091021eef4f8c173957cec0 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode263.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the Coca-Cola bottle and shake it well.", + "Grab the red-capped bottle carefully and shake.", + "Shake the red-capped bottle using the right arm after grabbing.", + "Pick the plastic drink bottle up using the right arm and shake it.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Pick up the hand-sized soda bottle and shake it.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Lift the narrow-necked bottle with the right arm and shake.", + "Shake the brown bottle with red label after lifting it.", + "Lift the long thin bottle and shake it thoroughly.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Secure the hand-sized soda bottle and perform a shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Using the right arm, shake the brown bottle with red label and then place it back.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Take the dark drink bottle with logo using the right arm and give it a shake.", + "Use the right arm to hold the plastic drink bottle and shake it.", + "Use the right arm to pick and shake the medium dark brown bottle.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Grab and shake the brown bottle with red label using the right arm.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Utilize the right arm to hold the narrow-necked bottle and shake it.", + "Hold the Coca-Cola bottle with the right arm and shake lightly.", + "Pick the Coca-Cola bottle, shake it with the right arm.", + "Hold the medium dark brown bottle and shake it properly.", + "Use the right arm to grab the brown bottle with red label and shake properly.", + "Lift up the hand-sized soda bottle using the right arm, then shake.", + "Lift the Coca-Cola bottle and shake it gently.", + "Grasp the brown bottle with red label with the right arm and shake it.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Hold the red-capped bottle, shake it briefly.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Shake the the brown bottle with red label properly after lifting.", + "Hold and shake the the medium dark brown bottle carefully.", + "Grab the plastic drink bottle and move it to shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Lift the plastic drink bottle with the right arm and shake it.", + "Grab the narrow-necked bottle and give it a shake.", + "Use the right arm to lift and shake the red-capped bottle.", + "Pick the medium dark brown bottle up with the right arm and shake.", + "Lift the dark drink bottle with logo with the right arm and give it a shake.", + "Use the right arm to grab the dark drink bottle with logo and shake it.", + "Grab the Coca-Cola bottle using the right arm, then shake.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Grab the plastic drink bottle with the right arm and shake.", + "Shake the red-capped bottle after grabbing it.", + "Pick up the red-capped bottle and shake it well.", + "Grab the dark drink bottle with logo carefully and shake.", + "Shake the red-capped bottle using the right arm after grabbing.", + "Pick the bottle with ridges on bottom up using the right arm and shake it.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Pick up the plastic drink bottle and shake it.", + "Shake the plastic drink bottle after holding it firmly.", + "Use the right arm to lift and shake the long thin bottle.", + "Lift the long thin bottle with the right arm and shake.", + "Shake the dark drink bottle with logo after lifting it.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Grip the smooth bottle with red lid using the right arm and shake.", + "Secure the plastic drink bottle and perform a shake.", + "Shake the brown bottle with red label after grabbing it.", + "Using the right arm, shake the smooth bottle with red lid and then place it back.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "With the right arm, pick the bottle with ridges on bottom and shake properly.", + "Take the hand-sized soda bottle using the right arm and give it a shake.", + "Use the right arm to hold the red-capped bottle and shake it.", + "Use the right arm to pick and shake the narrow-necked bottle.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Grab and shake the bottle with ridges on bottom using the right arm.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Utilize the right arm to hold the dark drink bottle with logo and shake it.", + "Hold the brown bottle with red label with the right arm and shake lightly.", + "Pick the bottle with white neck and red top, shake it with the right arm.", + "Hold the brown bottle with red label and shake it properly.", + "Use the right arm to grab the long thin bottle and shake properly.", + "Lift up the smooth bottle with red lid using the right arm, then shake.", + "Lift the hand-sized soda bottle and shake it gently.", + "Grasp the smooth bottle with red lid with the right arm and shake it.", + "Pick the plastic drink bottle and perform shaking motion.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Shake the the plastic drink bottle properly after lifting.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Grab the smooth bottle with red lid and move it to shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Lift the bottle with white neck and red top with the right arm and shake it.", + "Grab the long thin bottle and give it a shake.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Pick the red-capped bottle up with the right arm and shake.", + "Lift the dark drink bottle with logo with the right arm and give it a shake.", + "Use the right arm to grab the narrow-necked bottle and shake it.", + "Grab the plastic drink bottle using the right arm, then shake.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Grab the narrow-necked bottle with the right arm and shake.", + "Shake the medium dark brown bottle after grabbing it." + ], + "unseen": [ + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode264.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode264.json new file mode 100644 index 0000000000000000000000000000000000000000..1823c0dc69e476e45346d0bcb400ff8f29f5bfb9 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode264.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the dark drink bottle with logo up using the right arm and shake it.", + "Shake the bottle with white neck and red top after grabbing it.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Hold the brown bottle with red label and shake it properly.", + "Grab and shake the dark drink bottle with logo using the right arm.", + "Shake the the brown bottle with red label properly after lifting.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Grasp the dark drink bottle with logo with the right arm and shake it.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Grab the plastic drink bottle and shake it steadily.", + "Grab the red-capped bottle with the right arm and shake.", + "Lift the plastic drink bottle with the right arm and give it a shake.", + "Shake the dark drink bottle with logo using the right arm after grabbing.", + "Lift the plastic drink bottle with the right arm and shake.", + "Grab the plastic drink bottle carefully and shake.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Hold and shake the the brown bottle with red label carefully.", + "Shake the Coca-Cola bottle after grabbing it.", + "Shake the dark drink bottle with logo after lifting it.", + "Grab the bottle with white neck and red top and move it to shake.", + "Grab the dark drink bottle with logo using the right arm, then shake.", + "Pick up the bottle with white neck and red top and shake it.", + "With the right arm, pick the bottle with white neck and red top and shake properly.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Grip the long thin bottle using the right arm and shake.", + "Use the right arm to grab the medium dark brown bottle and shake properly.", + "Grab the bottle with white neck and red top and give it a shake.", + "Lift the long thin bottle and shake it thoroughly.", + "Shake the bottle with white neck and red top after grabbing it.", + "Utilize the right arm to hold the smooth bottle with red lid and shake it.", + "Pick the brown bottle with red label, shake it with the right arm.", + "Use the right arm to pick and shake the smooth bottle with red lid.", + "Hold the red-capped bottle, shake it briefly.", + "Secure the medium dark brown bottle and perform a shake.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Using the right arm, shake the red-capped bottle and then place it back.", + "Use the right arm to hold the Coca-Cola bottle and shake it.", + "Pick up the brown bottle with red label and shake it well.", + "Shake the medium dark brown bottle after holding it firmly.", + "Use the right arm to grab the plastic drink bottle and shake it.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Hold the long thin bottle with the right arm and shake lightly.", + "Lift the Coca-Cola bottle and shake it gently.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Lift up the red-capped bottle using the right arm, then shake.", + "Lift the long thin bottle with the right arm and shake it.", + "Take the long thin bottle using the right arm and give it a shake.", + "Pick the brown bottle with red label up with the right arm and shake.", + "Pick the brown bottle with red label up using the right arm and shake it.", + "Shake the brown bottle with red label after grabbing it.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "Hold the smooth bottle with red lid and shake it properly.", + "Grab and shake the bottle with white neck and red top using the right arm.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Use the right arm to lift and shake the long thin bottle.", + "Grasp the bottle with ridges on bottom with the right arm and shake it.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Grab the smooth bottle with red lid with the right arm and shake.", + "Lift the dark drink bottle with logo with the right arm and give it a shake.", + "Shake the red-capped bottle using the right arm after grabbing.", + "Lift the medium dark brown bottle with the right arm and shake.", + "Grab the plastic drink bottle carefully and shake.", + "Shake the long thin bottle firmly after grabbing.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Shake the Coca-Cola bottle after lifting it.", + "Grab the smooth bottle with red lid and move it to shake.", + "Grab the medium dark brown bottle using the right arm, then shake.", + "Pick up the brown bottle with red label and shake it.", + "With the right arm, pick the hand-sized soda bottle and shake properly.", + "Pick the brown bottle with red label and perform shaking motion.", + "Grip the medium dark brown bottle using the right arm and shake.", + "Use the right arm to grab the red-capped bottle and shake properly.", + "Grab the medium dark brown bottle and give it a shake.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Shake the red-capped bottle after grabbing it.", + "Utilize the right arm to hold the brown bottle with red label and shake it.", + "Pick the Coca-Cola bottle, shake it with the right arm.", + "Use the right arm to pick and shake the dark drink bottle with logo.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Secure the bottle with white neck and red top and perform a shake.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Using the right arm, shake the dark drink bottle with logo and then place it back.", + "Use the right arm to hold the dark drink bottle with logo and shake it.", + "Pick up the bottle with white neck and red top and shake it well.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Use the right arm to grab the dark drink bottle with logo and shake it.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Hold the bottle with white neck and red top with the right arm and shake lightly.", + "Lift the plastic drink bottle and shake it gently.", + "Use the right arm to lift and shake the long thin bottle.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Lift up the medium dark brown bottle using the right arm, then shake.", + "Lift the smooth bottle with red lid with the right arm and shake it.", + "Take the Coca-Cola bottle using the right arm and give it a shake.", + "Pick the red-capped bottle up with the right arm and shake." + ], + "unseen": [ + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode265.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode265.json new file mode 100644 index 0000000000000000000000000000000000000000..9e4a919e8830e19a257edcd868e451422ba47d9d --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode265.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with rounded neck carefully and shake.", + "Catch the green bottle with indented base and shake it instantly.", + "Use the right arm to hold the smooth green bottle and shake it.", + "Using the right arm, shake the bottle with white printed label and then place it back.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Shake the bottle with narrow top after grabbing it.", + "Grab the handheld green bottle and move it to shake.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Pick the medium-sized green bottle, shake it with the right arm.", + "Hold the green bottle with indented base with the right arm and shake lightly.", + "Shake the green bottle with indented base after grabbing it.", + "Shake the medium-sized green bottle after holding it firmly.", + "Grab the handheld green bottle and shake it steadily.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Grasp the plastic bottle with the right arm and shake it.", + "Lift the handheld green bottle and shake it thoroughly.", + "Hold the medium green bottle and shake it properly.", + "Shake the bottle with narrow top using the right arm after grabbing.", + "Grab the medium-sized green bottle using the right arm, then shake.", + "Hold the handheld green bottle steady, then shake it.", + "Grab and shake the green bottle with indented base using the right arm.", + "Secure the plastic bottle, shake it, and place it down.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Pick the green bottle with indented base and perform shaking motion.", + "Lift the green bottle with indented base with the right arm and give it a shake.", + "Lift the medium green bottle and shake it gently.", + "Pick the bottle with narrow top up with the right arm and shake.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Pick up the plastic bottle and shake it well.", + "Use the right arm to lift and shake the handheld green bottle.", + "Take the bottle with narrow top using the right arm and give it a shake.", + "Grab the bottle with narrow top with the right arm and shake.", + "Use the right arm to lift and shake the medium green bottle.", + "Grip the smooth green bottle using the right arm and shake.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "With the right arm, pick the bottle with rounded neck and shake properly.", + "Shake the bottle with rounded neck after lifting it.", + "Lift the bottle with narrow top with the right arm and shake it.", + "Shake the handheld green bottle after grabbing it.", + "Utilize the right arm to hold the smooth green bottle and shake it.", + "Secure the handheld green bottle and perform a shake.", + "Shake the handheld green bottle firmly after grabbing.", + "Pick up the green bottle with indented base and shake it.", + "Pick the smooth green bottle up using the right arm and shake it.", + "Lift the medium-sized green bottle with the right arm and shake.", + "Use the right arm to pick and shake the medium green bottle with capped neck.", + "Grab the bottle with narrow top and give it a shake.", + "Shake the the plastic bottle properly after lifting.", + "Lift up the medium green bottle using the right arm, then shake.", + "Use the right arm to grab the handheld green bottle and shake properly.", + "Grab the medium green bottle carefully and shake.", + "Catch the plastic bottle and shake it instantly.", + "Use the right arm to hold the plastic bottle and shake it.", + "Using the right arm, shake the green bottle with indented base and then place it back.", + "Hold and shake the the medium green bottle carefully.", + "Shake the green bottle with indented base after grabbing it.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Pick the medium green bottle, shake it with the right arm.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Shake the bottle with rounded neck after holding it firmly.", + "Grab the bottle with narrow top and shake it steadily.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Grasp the bottle with ridges near base with the right arm and shake it.", + "Lift the smooth green bottle and shake it thoroughly.", + "Hold the green bottle with indented base and shake it properly.", + "Shake the smooth green plastic bottle using the right arm after grabbing.", + "Grab the medium green bottle using the right arm, then shake.", + "Hold the bottle with ridges near base steady, then shake it.", + "Grab and shake the medium-sized green bottle using the right arm.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Lift the bottle with narrow top with the right arm and give it a shake.", + "Lift the medium-sized green bottle and shake it gently.", + "Pick the bottle with rounded neck up with the right arm and shake.", + "Hold the green bottle with indented base, shake it briefly.", + "Pick up the smooth green plastic bottle and shake it well.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Take the bottle with narrow top using the right arm and give it a shake.", + "Grab the smooth green bottle with the right arm and shake.", + "Use the right arm to lift and shake the handheld green bottle.", + "Grip the plastic bottle using the right arm and shake.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "With the right arm, pick the medium-sized green bottle and shake properly.", + "Shake the green bottle with indented base after lifting it.", + "Lift the plastic bottle with the right arm and shake it.", + "Shake the smooth green bottle after grabbing it.", + "Utilize the right arm to hold the bottle with rounded neck and shake it.", + "Secure the plastic bottle and perform a shake.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Pick up the medium green bottle with capped neck and shake it.", + "Pick the medium-sized green bottle up using the right arm and shake it.", + "Lift the bottle with narrow top with the right arm and shake.", + "Use the right arm to pick and shake the handheld green bottle.", + "Grab the smooth green plastic bottle and give it a shake.", + "Shake the the medium green bottle properly after lifting.", + "Lift up the medium-sized green bottle using the right arm, then shake.", + "Use the right arm to grab the handheld green bottle and shake properly." + ], + "unseen": [ + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode266.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode266.json new file mode 100644 index 0000000000000000000000000000000000000000..95f8f0bb1f65032a3e0831b8d98b6f163aff057b --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode266.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the smooth bottle with red lid and give it a shake.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Secure the hand-sized soda bottle and perform a shake.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Grab the brown bottle with red label with the left arm and shake.", + "Shake the long thin bottle after lifting it.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Lift the dark drink bottle with logo with the left arm and shake it.", + "Shake the narrow-necked bottle after grabbing it.", + "Hold the plastic drink bottle with the left arm and shake lightly.", + "Grab the plastic drink bottle using the left arm, then shake.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Hold and shake the the red-capped bottle carefully.", + "Grab the plastic drink bottle and move it to shake.", + "Grab the Coca-Cola bottle carefully and shake.", + "Shake the the narrow-necked bottle properly after lifting.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Grip the long thin bottle using the left arm and shake.", + "Utilize the left arm to hold the Coca-Cola bottle and shake it.", + "Use the left arm to grab the brown bottle with red label and shake properly.", + "Use the left arm to lift and shake the red-capped bottle.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Grab and shake the bottle with white neck and red top using the left arm.", + "Shake the brown bottle with red label using the left arm after grabbing.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Shake the brown bottle with red label after holding it firmly.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Catch the red-capped bottle and shake it instantly.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Grab the plastic drink bottle and shake it steadily.", + "Pick the narrow-necked bottle up with the left arm and shake.", + "Lift the dark drink bottle with logo with the left arm and shake.", + "Pick up the red-capped bottle and shake it well.", + "Pick up the dark drink bottle with logo and shake it.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Use the left arm to pick and shake the bottle with white neck and red top.", + "Shake the smooth bottle with red lid after grabbing it.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Take the long thin bottle using the left arm and give it a shake.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Grab the long thin bottle and give it a shake.", + "Use the left arm to lift and shake the red-capped bottle.", + "Secure the smooth bottle with red lid and perform a shake.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Use the left arm to hold the medium dark brown bottle and shake it.", + "Grab the brown bottle with red label with the left arm and shake.", + "Shake the hand-sized soda bottle after lifting it.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Lift the dark drink bottle with logo with the left arm and shake it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Hold the plastic drink bottle with the left arm and shake lightly.", + "Grab the bottle with white neck and red top using the left arm, then shake.", + "Hold the brown bottle with red label steady, then shake it.", + "Pick the brown bottle with red label, shake it with the left arm.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Grab the red-capped bottle and move it to shake.", + "Grab the dark drink bottle with logo carefully and shake.", + "Shake the the red-capped bottle properly after lifting.", + "Shake the medium dark brown bottle after grabbing it.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Lift the smooth bottle with red lid with the left arm and give it a shake.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Grip the red-capped bottle using the left arm and shake.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Use the left arm to grab the dark drink bottle with logo and shake properly.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Pick the bottle with white neck and red top up using the left arm and shake it.", + "Grab and shake the dark drink bottle with logo using the left arm.", + "Shake the smooth bottle with red lid using the left arm after grabbing.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Use the left arm to grab the brown bottle with red label and shake it.", + "Shake the plastic drink bottle after holding it firmly.", + "Using the left arm, shake the narrow-necked bottle and then place it back.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Pick the medium dark brown bottle up with the left arm and shake.", + "Lift the long thin bottle with the left arm and shake.", + "Pick up the smooth bottle with red lid and shake it well.", + "Pick up the hand-sized soda bottle and shake it.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Lift the narrow-necked bottle and shake it gently.", + "Hold the red-capped bottle and shake it properly.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Use the left arm to pick and shake the narrow-necked bottle.", + "Shake the narrow-necked bottle after grabbing it.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Pick the medium dark brown bottle and perform shaking motion." + ], + "unseen": [ + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode267.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode267.json new file mode 100644 index 0000000000000000000000000000000000000000..a40da263cac5f89d8a40d17d3e550cd78d8c715a --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode267.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the medium green bottle and shake it properly.", + "Pick up the medium-sized green bottle and shake it.", + "Shake the bottle with white printed label firmly after grabbing.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Use the right arm to pick and shake the smooth green plastic bottle.", + "With the right arm, pick the bottle with white printed label and shake properly.", + "Pick the medium green bottle, shake it with the right arm.", + "Lift the medium green bottle with capped neck with the right arm and shake it.", + "Use the right arm to hold the bottle with narrow top and shake it.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Shake the plastic bottle after lifting it.", + "Use the right arm to lift and shake the medium green bottle.", + "Lift up the bottle with white printed label using the right arm, then shake.", + "Hold the plastic bottle, shake it briefly.", + "Secure the bottle with ridges near base and perform a shake.", + "Grasp the medium green bottle with capped neck with the right arm and shake it.", + "Hold the bottle with white printed label with the right arm and shake lightly.", + "Use the right arm to grab the medium green bottle and shake properly.", + "Shake the bottle with ridges near base after holding it firmly.", + "Lift the smooth green bottle with the right arm and shake.", + "Shake the bottle with ridges near base after grabbing it.", + "Shake the the smooth green bottle properly after lifting.", + "Grab the plastic bottle carefully and shake.", + "Shake the smooth green bottle after grabbing it.", + "Take the bottle with white printed label using the right arm and give it a shake.", + "Shake the bottle with white printed label after grabbing it.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Lift the medium-sized green bottle and shake it gently.", + "Grab the smooth green plastic bottle and give it a shake.", + "Catch the smooth green bottle and shake it instantly.", + "Hold and shake the the smooth green bottle carefully.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Use the right arm to grab the handheld green bottle and shake it.", + "Grab the smooth green bottle and move it to shake.", + "Grab the bottle with white printed label with the right arm and shake.", + "Grab the bottle with rounded neck using the right arm, then shake.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Pick the medium-sized green bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Pick the smooth green bottle up with the right arm and shake.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Grab and shake the medium green bottle with capped neck using the right arm.", + "Using the right arm, shake the medium green bottle and then place it back.", + "Lift the medium green bottle with capped neck with the right arm and give it a shake.", + "Shake the smooth green bottle using the right arm after grabbing.", + "Utilize the right arm to hold the smooth green plastic bottle and shake it.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Grip the bottle with white printed label using the right arm and shake.", + "Hold the bottle with narrow top and shake it properly.", + "Pick up the plastic bottle and shake it.", + "Shake the handheld green bottle firmly after grabbing.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Use the right arm to pick and shake the medium green bottle.", + "With the right arm, pick the handheld green bottle and shake properly.", + "Pick the medium-sized green bottle, shake it with the right arm.", + "Lift the smooth green bottle with the right arm and shake it.", + "Use the right arm to hold the green bottle with indented base and shake it.", + "Grab the handheld green bottle and shake it steadily.", + "Shake the smooth green plastic bottle after lifting it.", + "Use the right arm to lift and shake the medium green bottle.", + "Lift up the medium green bottle using the right arm, then shake.", + "Hold the handheld green bottle, shake it briefly.", + "Secure the bottle with ridges near base and perform a shake.", + "Grasp the medium green bottle with the right arm and shake it.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Use the right arm to grab the bottle with narrow top and shake properly.", + "Shake the medium-sized green bottle after holding it firmly.", + "Lift the smooth green plastic bottle with the right arm and shake.", + "Shake the bottle with white printed label after grabbing it.", + "Shake the the bottle with rounded neck properly after lifting.", + "Grab the bottle with rounded neck carefully and shake.", + "Shake the smooth green bottle after grabbing it.", + "Take the bottle with narrow top using the right arm and give it a shake.", + "Shake the medium green bottle after grabbing it.", + "Pick the medium green bottle and perform shaking motion.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Grab the smooth green plastic bottle and give it a shake.", + "Catch the plastic bottle and shake it instantly.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "Grab the medium green bottle and move it to shake.", + "Grab the plastic bottle with the right arm and shake.", + "Grab the smooth green plastic bottle using the right arm, then shake.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Pick the smooth green plastic bottle up using the right arm and shake it.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Pick the green bottle with indented base up with the right arm and shake.", + "Pick up the medium green bottle and shake it well.", + "Hold the green bottle with indented base steady, then shake it.", + "Grab and shake the medium green bottle with capped neck using the right arm.", + "Using the right arm, shake the bottle with white printed label and then place it back.", + "Lift the bottle with rounded neck with the right arm and give it a shake.", + "Shake the bottle with narrow top using the right arm after grabbing.", + "Utilize the right arm to hold the bottle with ridges near base and shake it.", + "Lift the handheld green bottle and shake it thoroughly.", + "Grip the medium green bottle with capped neck using the right arm and shake." + ], + "unseen": [ + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode268.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode268.json new file mode 100644 index 0000000000000000000000000000000000000000..a29f022f1a45130f132d399728b2ce67bacec51b --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode268.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the bottle with narrow top steady, then shake it.", + "Shake the bottle with white printed label after lifting it.", + "Shake the green bottle with indented base after holding it firmly.", + "Grab the handheld green bottle and shake it steadily.", + "Use the right arm to pick and shake the medium green bottle.", + "Take the handheld green bottle using the right arm and give it a shake.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Pick the handheld green bottle up using the right arm and shake it.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Pick up the medium green bottle and shake it well.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Lift the medium-sized green bottle with the right arm and shake it.", + "Grab the smooth green bottle and move it to shake.", + "Lift up the medium-sized green bottle using the right arm, then shake.", + "Shake the green bottle with indented base firmly after grabbing.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Utilize the right arm to hold the bottle with rounded neck and shake it.", + "Hold the medium-sized green bottle and shake it properly.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Grab the medium-sized green bottle using the right arm, then shake.", + "Hold the bottle with rounded neck, shake it briefly.", + "Grab the bottle with ridges near base with the right arm and shake.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Use the right arm to grab the medium-sized green bottle and shake it.", + "Pick up the medium-sized green bottle and shake it.", + "Grab the handheld green bottle and give it a shake.", + "Lift the medium-sized green bottle with the right arm and give it a shake.", + "Catch the medium green bottle and shake it instantly.", + "Secure the bottle with rounded neck and perform a shake.", + "Shake the bottle with rounded neck after grabbing it.", + "Pick the plastic bottle up with the right arm and shake.", + "Lift the smooth green plastic bottle with the right arm and shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "With the right arm, pick the plastic bottle and shake properly.", + "Shake the bottle with ridges near base after grabbing it.", + "Pick the medium green bottle, shake it with the right arm.", + "Using the right arm, shake the bottle with white printed label and then place it back.", + "Use the right arm to grab the medium-sized green bottle and shake properly.", + "Shake the medium green bottle using the right arm after grabbing.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Shake the the medium-sized green bottle properly after lifting.", + "Grip the smooth green bottle using the right arm and shake.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Grab and shake the smooth green bottle using the right arm.", + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Use the right arm to hold the smooth green plastic bottle and shake it.", + "Pick the bottle with white printed label and perform shaking motion.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Grasp the bottle with ridges near base with the right arm and shake it.", + "Hold the bottle with narrow top steady, then shake it.", + "Shake the bottle with white printed label after lifting it.", + "Shake the bottle with white printed label after holding it firmly.", + "Grab the medium green bottle and shake it steadily.", + "Use the right arm to pick and shake the plastic bottle.", + "Take the green bottle with indented base using the right arm and give it a shake.", + "Grab the smooth green bottle carefully and shake.", + "Pick the bottle with ridges near base up using the right arm and shake it.", + "Hold the green bottle with indented base with the right arm and shake lightly.", + "Pick up the bottle with narrow top and shake it well.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Lift the bottle with rounded neck with the right arm and shake it.", + "Grab the smooth green plastic bottle and move it to shake.", + "Lift up the smooth green bottle using the right arm, then shake.", + "Shake the plastic bottle firmly after grabbing.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Utilize the right arm to hold the medium-sized green bottle and shake it.", + "Hold the medium green bottle and shake it properly.", + "Use the right arm to lift and shake the plastic bottle.", + "Grab the medium-sized green bottle using the right arm, then shake.", + "Hold the medium green bottle, shake it briefly.", + "Grab the bottle with narrow top with the right arm and shake.", + "Secure the medium green bottle, shake it, and place it down.", + "Use the right arm to grab the bottle with narrow top and shake it.", + "Pick up the handheld green bottle and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Catch the bottle with ridges near base and shake it instantly.", + "Secure the bottle with ridges near base and perform a shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Pick the bottle with ridges near base up with the right arm and shake.", + "Lift the bottle with white printed label with the right arm and shake.", + "Shake the medium-sized green bottle after grabbing it.", + "With the right arm, pick the bottle with ridges near base and shake properly.", + "Shake the bottle with rounded neck after grabbing it.", + "Pick the handheld green bottle, shake it with the right arm.", + "Using the right arm, shake the handheld green bottle and then place it back.", + "Use the right arm to grab the bottle with narrow top and shake properly.", + "Shake the medium-sized green bottle using the right arm after grabbing.", + "Hold and shake the the bottle with rounded neck carefully.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Grip the bottle with ridges near base using the right arm and shake.", + "Lift the bottle with white printed label and shake it gently.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Grab and shake the smooth green bottle using the right arm.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Use the right arm to hold the plastic bottle and shake it.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Grasp the smooth green bottle with the right arm and shake it." + ], + "unseen": [ + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode269.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode269.json new file mode 100644 index 0000000000000000000000000000000000000000..2d7bf407a9fcb8d620566ac77c756e135e5da385 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode269.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the dark drink bottle with logo using the right arm and shake.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Use the right arm to hold the red-capped bottle and shake it.", + "Lift the hand-sized soda bottle and shake it gently.", + "Lift the brown bottle with red label with the right arm and shake.", + "Pick the bottle with ridges on bottom up with the right arm and shake.", + "Hold the brown bottle with red label, shake it briefly.", + "Shake the plastic drink bottle using the right arm after grabbing.", + "Use the right arm to grab the hand-sized soda bottle and shake properly.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Grab the red-capped bottle carefully and shake.", + "Grasp the smooth bottle with red lid with the right arm and shake it.", + "Grab the dark drink bottle with logo using the right arm, then shake.", + "Pick up the medium dark brown bottle and shake it well.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Lift the brown bottle with red label with the right arm and give it a shake.", + "Grab the red-capped bottle and give it a shake.", + "Grab the hand-sized soda bottle and move it to shake.", + "Lift the bottle with white neck and red top with the right arm and shake it.", + "Shake the plastic drink bottle after grabbing it.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Catch the red-capped bottle and shake it instantly.", + "Secure the plastic drink bottle and perform a shake.", + "Hold the dark drink bottle with logo and shake it properly.", + "Pick the brown bottle with red label and perform shaking motion.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Grab the bottle with ridges on bottom with the right arm and shake.", + "Shake the red-capped bottle after grabbing it.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Lift up the smooth bottle with red lid using the right arm, then shake.", + "Hold the medium dark brown bottle steady, then shake it.", + "Shake the red-capped bottle after grabbing it.", + "Use the right arm to lift and shake the long thin bottle.", + "Hold and shake the the medium dark brown bottle carefully.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Shake the plastic drink bottle after lifting it.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Use the right arm to grab the bottle with ridges on bottom and shake it.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Hold the dark drink bottle with logo with the right arm and shake lightly.", + "Pick up the dark drink bottle with logo and shake it.", + "Utilize the right arm to hold the plastic drink bottle and shake it.", + "Pick the bottle with white neck and red top up using the right arm and shake it.", + "Grab and shake the narrow-necked bottle using the right arm.", + "Take the smooth bottle with red lid using the right arm and give it a shake.", + "Using the right arm, shake the bottle with white neck and red top and then place it back.", + "Shake the medium dark brown bottle after holding it firmly.", + "Use the right arm to pick and shake the dark drink bottle with logo.", + "With the right arm, pick the Coca-Cola bottle and shake properly.", + "Grip the hand-sized soda bottle using the right arm and shake.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Use the right arm to hold the medium dark brown bottle and shake it.", + "Lift the plastic drink bottle and shake it gently.", + "Lift the hand-sized soda bottle with the right arm and shake.", + "Pick the brown bottle with red label up with the right arm and shake.", + "Hold the narrow-necked bottle, shake it briefly.", + "Shake the medium dark brown bottle using the right arm after grabbing.", + "Use the right arm to grab the smooth bottle with red lid and shake properly.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Grab the brown bottle with red label carefully and shake.", + "Grasp the plastic drink bottle with the right arm and shake it.", + "Grab the plastic drink bottle using the right arm, then shake.", + "Pick up the long thin bottle and shake it well.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Lift the Coca-Cola bottle with the right arm and give it a shake.", + "Grab the red-capped bottle and give it a shake.", + "Grab the long thin bottle and move it to shake.", + "Lift the narrow-necked bottle with the right arm and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the right arm to lift and shake the long thin bottle.", + "Catch the medium dark brown bottle and shake it instantly.", + "Secure the narrow-necked bottle and perform a shake.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Grab the red-capped bottle with the right arm and shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Lift up the Coca-Cola bottle using the right arm, then shake.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Shake the long thin bottle after grabbing it.", + "Use the right arm to lift and shake the long thin bottle.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Shake the the plastic drink bottle properly after lifting.", + "Shake the plastic drink bottle after lifting it.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Use the right arm to grab the smooth bottle with red lid and shake it.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Hold the narrow-necked bottle with the right arm and shake lightly.", + "Pick up the red-capped bottle and shake it.", + "Utilize the right arm to hold the narrow-necked bottle and shake it.", + "Pick the medium dark brown bottle up using the right arm and shake it.", + "Grab and shake the medium dark brown bottle using the right arm.", + "Take the dark drink bottle with logo using the right arm and give it a shake.", + "Using the right arm, shake the Coca-Cola bottle and then place it back.", + "Shake the brown bottle with red label after holding it firmly.", + "Use the right arm to pick and shake the plastic drink bottle.", + "With the right arm, pick the bottle with white neck and red top and shake properly." + ], + "unseen": [ + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode27.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..dcf62b5d8e87b4d3d8ebf0d7ed45e2acb8b70442 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the dark drink bottle with logo and perform shaking motion.", + "Lift the long thin bottle and shake it thoroughly.", + "Shake the bottle with white neck and red top after lifting it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "With the left arm, pick the long thin bottle and shake properly.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Shake the brown bottle with red label after holding it firmly.", + "Pick up the hand-sized soda bottle and shake it well.", + "Grasp the Coca-Cola bottle with the left arm and shake it.", + "Lift the bottle with white neck and red top and shake it gently.", + "Lift the medium dark brown bottle with the left arm and give it a shake.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Grab the hand-sized soda bottle carefully and shake.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Use the left arm to grab the narrow-necked bottle and shake it.", + "Use the left arm to pick and shake the brown bottle with red label.", + "Grip the long thin bottle using the left arm and shake.", + "Pick up the smooth bottle with red lid and shake it.", + "Hold and shake the the medium dark brown bottle carefully.", + "Use the left arm to grab the Coca-Cola bottle and shake properly.", + "Lift the bottle with white neck and red top with the left arm and shake.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Take the red-capped bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Secure the brown bottle with red label and perform a shake.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Shake the long thin bottle after grabbing it.", + "Pick the bottle with white neck and red top up using the left arm and shake it.", + "Grab the hand-sized soda bottle with the left arm and shake.", + "Shake the red-capped bottle using the left arm after grabbing.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Grab and shake the brown bottle with red label using the left arm.", + "Hold the brown bottle with red label and shake it properly.", + "Grab the hand-sized soda bottle and move it to shake.", + "Grab the brown bottle with red label and give it a shake.", + "Using the left arm, shake the red-capped bottle and then place it back.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Shake the brown bottle with red label after grabbing it.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Lift the Coca-Cola bottle with the left arm and shake it.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Pick the dark drink bottle with logo, shake it with the left arm.", + "Pick the plastic drink bottle and perform shaking motion.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Shake the medium dark brown bottle after lifting it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Pick the dark drink bottle with logo up with the left arm and shake.", + "Hold the Coca-Cola bottle with the left arm and shake lightly.", + "Shake the narrow-necked bottle after holding it firmly.", + "Pick up the hand-sized soda bottle and shake it well.", + "Grasp the long thin bottle with the left arm and shake it.", + "Lift the long thin bottle and shake it gently.", + "Lift the smooth bottle with red lid with the left arm and give it a shake.", + "Hold the long thin bottle steady, then shake it.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Use the left arm to hold the narrow-necked bottle and shake it.", + "Hold the long thin bottle, shake it briefly.", + "Use the left arm to grab the dark drink bottle with logo and shake it.", + "Use the left arm to pick and shake the medium dark brown bottle.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Pick up the long thin bottle and shake it.", + "Hold and shake the the plastic drink bottle carefully.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Lift the Coca-Cola bottle with the left arm and shake.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Take the Coca-Cola bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the long thin bottle.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Secure the long thin bottle and perform a shake.", + "Utilize the left arm to hold the narrow-necked bottle and shake it.", + "Shake the medium dark brown bottle after grabbing it.", + "Pick the bottle with white neck and red top up using the left arm and shake it.", + "Grab the hand-sized soda bottle with the left arm and shake.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Grab and shake the red-capped bottle using the left arm.", + "Hold the red-capped bottle and shake it properly.", + "Grab the plastic drink bottle and move it to shake.", + "Grab the hand-sized soda bottle and give it a shake.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Grab the red-capped bottle and shake it steadily.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Secure the red-capped bottle, shake it, and place it down.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Lift the long thin bottle with the left arm and shake it.", + "Use the left arm to lift and shake the long thin bottle.", + "Pick the Coca-Cola bottle, shake it with the left arm." + ], + "unseen": [ + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode270.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode270.json new file mode 100644 index 0000000000000000000000000000000000000000..9dbd6935ff0635d8058a0ca2a9921a22a0c61cd6 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode270.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bottle with white neck and red top using the left arm, then shake.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Pick the long thin bottle up with the left arm and shake.", + "Use the left arm to hold the red-capped bottle and shake it.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Use the left arm to grab the narrow-necked bottle and shake it.", + "Shake the plastic drink bottle after holding it firmly.", + "Grab the narrow-necked bottle and move it to shake.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Shake the dark drink bottle with logo after grabbing it.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Hold the plastic drink bottle with the left arm and shake lightly.", + "Using the left arm, shake the red-capped bottle and then place it back.", + "Pick up the hand-sized soda bottle and shake it well.", + "Lift the narrow-necked bottle with the left arm and give it a shake.", + "Shake the the plastic drink bottle properly after lifting.", + "Grab the bottle with white neck and red top with the left arm and shake.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Lift up the red-capped bottle using the left arm, then shake.", + "Lift the red-capped bottle with the left arm and shake.", + "Lift the plastic drink bottle and shake it gently.", + "Shake the bottle with white neck and red top using the left arm after grabbing.", + "Shake the narrow-necked bottle after lifting it.", + "Shake the red-capped bottle after grabbing it.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "With the left arm, pick the plastic drink bottle and shake properly.", + "Pick the dark drink bottle with logo, shake it with the left arm.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Lift the dark drink bottle with logo with the left arm and shake it.", + "Hold the medium dark brown bottle steady, then shake it.", + "Lift the red-capped bottle and shake it thoroughly.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Pick up the smooth bottle with red lid and shake it.", + "Secure the brown bottle with red label and perform a shake.", + "Grab the long thin bottle and give it a shake.", + "Grab the narrow-necked bottle carefully and shake.", + "Pick the dark drink bottle with logo up using the left arm and shake it.", + "Hold the plastic drink bottle, shake it briefly.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Use the left arm to grab the hand-sized soda bottle and shake properly.", + "Grasp the bottle with white neck and red top with the left arm and shake it.", + "Hold and shake the the brown bottle with red label carefully.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Shake the plastic drink bottle after grabbing it.", + "Grip the bottle with white neck and red top using the left arm and shake.", + "Grab the red-capped bottle using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Pick the bottle with white neck and red top up with the left arm and shake.", + "Use the left arm to hold the bottle with white neck and red top and shake it.", + "Use the left arm to pick and shake the red-capped bottle.", + "Use the left arm to grab the smooth bottle with red lid and shake it.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Use the left arm to lift and shake the red-capped bottle.", + "Grab the red-capped bottle and shake it steadily.", + "Grab and shake the bottle with white neck and red top using the left arm.", + "Shake the brown bottle with red label after grabbing it.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "Pick up the plastic drink bottle and shake it well.", + "Lift the brown bottle with red label with the left arm and give it a shake.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Grab the plastic drink bottle with the left arm and shake.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Lift up the long thin bottle using the left arm, then shake.", + "Lift the bottle with white neck and red top with the left arm and shake.", + "Lift the bottle with white neck and red top and shake it gently.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Shake the narrow-necked bottle after lifting it.", + "Shake the medium dark brown bottle after grabbing it.", + "Take the bottle with white neck and red top using the left arm and give it a shake.", + "With the left arm, pick the narrow-necked bottle and shake properly.", + "Pick the smooth bottle with red lid, shake it with the left arm.", + "Pick the plastic drink bottle and perform shaking motion.", + "Lift the long thin bottle with the left arm and shake it.", + "Hold the long thin bottle steady, then shake it.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Pick up the bottle with white neck and red top and shake it.", + "Secure the brown bottle with red label and perform a shake.", + "Grab the smooth bottle with red lid and give it a shake.", + "Grab the narrow-necked bottle carefully and shake.", + "Pick the hand-sized soda bottle up using the left arm and shake it.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Hold the Coca-Cola bottle and shake it properly.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grip the bottle with ridges on bottom using the left arm and shake." + ], + "unseen": [ + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode271.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode271.json new file mode 100644 index 0000000000000000000000000000000000000000..b67d7c3912b5f2db86ac2f7e6561fe6ba415c78b --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode271.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the brown bottle with red label after grabbing it.", + "Lift the narrow-necked bottle and shake it gently.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Grab the bottle with ridges on bottom with the right arm and shake.", + "Lift the Coca-Cola bottle with the right arm and give it a shake.", + "Grab the long thin bottle using the right arm, then shake.", + "Grab the dark drink bottle with logo and give it a shake.", + "Shake the the narrow-necked bottle properly after lifting.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Grip the dark drink bottle with logo using the right arm and shake.", + "Use the right arm to grab the hand-sized soda bottle and shake properly.", + "Hold the Coca-Cola bottle with the right arm and shake lightly.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Grab the bottle with white neck and red top and move it to shake.", + "Hold the long thin bottle steady, then shake it.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "With the right arm, pick the hand-sized soda bottle and shake properly.", + "Grasp the brown bottle with red label with the right arm and shake it.", + "Using the right arm, shake the plastic drink bottle and then place it back.", + "Use the right arm to pick and shake the narrow-necked bottle.", + "Use the right arm to hold the bottle with white neck and red top and shake it.", + "Shake the medium dark brown bottle after grabbing it.", + "Lift the long thin bottle with the right arm and shake.", + "Catch the red-capped bottle and shake it instantly.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Grab the bottle with white neck and red top carefully and shake.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Shake the brown bottle with red label after grabbing it.", + "Take the brown bottle with red label using the right arm and give it a shake.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Hold the plastic drink bottle and shake it properly.", + "Lift up the Coca-Cola bottle using the right arm, then shake.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Utilize the right arm to hold the smooth bottle with red lid and shake it.", + "Pick the narrow-necked bottle, shake it with the right arm.", + "Use the right arm to grab the bottle with white neck and red top and shake it.", + "Pick up the hand-sized soda bottle and shake it.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Lift the brown bottle with red label with the right arm and shake it.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Secure the plastic drink bottle and perform a shake.", + "Pick the medium dark brown bottle up using the right arm and shake it.", + "Shake the medium dark brown bottle using the right arm after grabbing.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Grab and shake the medium dark brown bottle using the right arm.", + "Pick up the red-capped bottle and shake it well.", + "Pick the smooth bottle with red lid up with the right arm and shake.", + "Shake the narrow-necked bottle after lifting it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Lift the brown bottle with red label and shake it gently.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Grab the medium dark brown bottle with the right arm and shake.", + "Lift the medium dark brown bottle with the right arm and give it a shake.", + "Grab the brown bottle with red label using the right arm, then shake.", + "Grab the red-capped bottle and give it a shake.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Grip the hand-sized soda bottle using the right arm and shake.", + "Use the right arm to grab the Coca-Cola bottle and shake properly.", + "Hold the medium dark brown bottle with the right arm and shake lightly.", + "Hold and shake the the narrow-necked bottle carefully.", + "Grab the medium dark brown bottle and move it to shake.", + "Hold the plastic drink bottle steady, then shake it.", + "Pick the red-capped bottle and perform shaking motion.", + "With the right arm, pick the narrow-necked bottle and shake properly.", + "Grasp the smooth bottle with red lid with the right arm and shake it.", + "Using the right arm, shake the long thin bottle and then place it back.", + "Use the right arm to pick and shake the dark drink bottle with logo.", + "Use the right arm to hold the hand-sized soda bottle and shake it.", + "Shake the narrow-necked bottle after grabbing it.", + "Lift the narrow-necked bottle with the right arm and shake.", + "Catch the brown bottle with red label and shake it instantly.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Grab the red-capped bottle carefully and shake.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Shake the smooth bottle with red lid after grabbing it.", + "Take the hand-sized soda bottle using the right arm and give it a shake.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Lift up the Coca-Cola bottle using the right arm, then shake.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Utilize the right arm to hold the medium dark brown bottle and shake it.", + "Pick the long thin bottle, shake it with the right arm.", + "Use the right arm to grab the long thin bottle and shake it.", + "Pick up the long thin bottle and shake it.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Lift the dark drink bottle with logo with the right arm and shake it.", + "Hold the medium dark brown bottle, shake it briefly.", + "Secure the dark drink bottle with logo and perform a shake.", + "Pick the long thin bottle up using the right arm and shake it.", + "Shake the narrow-necked bottle using the right arm after grabbing.", + "Grab the brown bottle with red label and shake it steadily.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Grab and shake the dark drink bottle with logo using the right arm.", + "Pick up the Coca-Cola bottle and shake it well.", + "Pick the medium dark brown bottle up with the right arm and shake.", + "Shake the smooth bottle with red lid after lifting it." + ], + "unseen": [ + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode272.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode272.json new file mode 100644 index 0000000000000000000000000000000000000000..a7d275fad6ffb27b75eed8189f3e13a402534d18 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode272.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Lift the red-capped bottle and shake it gently.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Hold the brown bottle with red label, shake it briefly.", + "Grab the narrow-necked bottle with the right arm and shake.", + "Grasp the Coca-Cola bottle with the right arm and shake it.", + "Use the right arm to grab the long thin bottle and shake properly.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Utilize the right arm to hold the plastic drink bottle and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Shake the dark drink bottle with logo after grabbing it.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Catch the brown bottle with red label and shake it instantly.", + "Grab the dark drink bottle with logo carefully and shake.", + "Hold the Coca-Cola bottle and shake it properly.", + "Grip the smooth bottle with red lid using the right arm and shake.", + "Use the right arm to pick and shake the bottle with white neck and red top.", + "With the right arm, pick the brown bottle with red label and shake properly.", + "Shake the medium dark brown bottle after grabbing it.", + "Using the right arm, shake the dark drink bottle with logo and then place it back.", + "Pick up the medium dark brown bottle and shake it well.", + "Pick up the medium dark brown bottle and shake it.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Lift the dark drink bottle with logo with the right arm and give it a shake.", + "Grab the narrow-necked bottle using the right arm, then shake.", + "Grab and shake the bottle with white neck and red top using the right arm.", + "Lift the long thin bottle and shake it thoroughly.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Take the dark drink bottle with logo using the right arm and give it a shake.", + "Lift the bottle with white neck and red top with the right arm and shake.", + "Lift the long thin bottle with the right arm and shake it.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Grab the plastic drink bottle and shake it steadily.", + "Use the right arm to grab the narrow-necked bottle and shake it.", + "Shake the brown bottle with red label using the right arm after grabbing.", + "Pick the plastic drink bottle up using the right arm and shake it.", + "Use the right arm to hold the bottle with white neck and red top and shake it.", + "Lift up the plastic drink bottle using the right arm, then shake.", + "Grab the narrow-necked bottle and move it to shake.", + "Hold the red-capped bottle with the right arm and shake lightly.", + "Pick the red-capped bottle up with the right arm and shake.", + "Shake the brown bottle with red label after lifting it.", + "Shake the the brown bottle with red label properly after lifting.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Grab the hand-sized soda bottle and give it a shake.", + "Pick the bottle with white neck and red top, shake it with the right arm.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Lift the smooth bottle with red lid and shake it gently.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Grab the bottle with white neck and red top with the right arm and shake.", + "Grasp the brown bottle with red label with the right arm and shake it.", + "Use the right arm to grab the long thin bottle and shake properly.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Utilize the right arm to hold the long thin bottle and shake it.", + "Shake the smooth bottle with red lid after grabbing it.", + "Shake the medium dark brown bottle after holding it firmly.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Shake the bottle with white neck and red top after grabbing it.", + "Secure the long thin bottle, shake it, and place it down.", + "Catch the brown bottle with red label and shake it instantly.", + "Grab the red-capped bottle carefully and shake.", + "Hold the hand-sized soda bottle and shake it properly.", + "Grip the narrow-necked bottle using the right arm and shake.", + "Use the right arm to pick and shake the smooth bottle with red lid.", + "With the right arm, pick the narrow-necked bottle and shake properly.", + "Shake the medium dark brown bottle after grabbing it.", + "Using the right arm, shake the plastic drink bottle and then place it back.", + "Pick up the Coca-Cola bottle and shake it well.", + "Pick up the narrow-necked bottle and shake it.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Hold and shake the the red-capped bottle carefully.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Lift the brown bottle with red label with the right arm and give it a shake.", + "Grab the bottle with white neck and red top using the right arm, then shake.", + "Grab and shake the red-capped bottle using the right arm.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Hold the red-capped bottle steady, then shake it.", + "Take the red-capped bottle using the right arm and give it a shake.", + "Lift the hand-sized soda bottle with the right arm and shake.", + "Lift the smooth bottle with red lid with the right arm and shake it.", + "Secure the long thin bottle and perform a shake.", + "Grab the brown bottle with red label and shake it steadily.", + "Use the right arm to grab the smooth bottle with red lid and shake it.", + "Shake the Coca-Cola bottle using the right arm after grabbing.", + "Pick the long thin bottle up using the right arm and shake it.", + "Use the right arm to hold the hand-sized soda bottle and shake it.", + "Lift up the Coca-Cola bottle using the right arm, then shake.", + "Grab the smooth bottle with red lid and move it to shake.", + "Hold the bottle with white neck and red top with the right arm and shake lightly.", + "Pick the brown bottle with red label up with the right arm and shake.", + "Shake the dark drink bottle with logo after lifting it.", + "Shake the the long thin bottle properly after lifting.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Grab the long thin bottle and give it a shake.", + "Pick the smooth bottle with red lid, shake it with the right arm." + ], + "unseen": [ + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode273.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode273.json new file mode 100644 index 0000000000000000000000000000000000000000..9783f480bde8952ca6443dc894f8b47d4b7b3fce --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode273.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the left arm, pick the brown bottle with red label and shake properly.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "Grab the dark drink bottle with logo and give it a shake.", + "Using the left arm, shake the bottle with ridges on bottom and then place it back.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Grip the bottle with white neck and red top using the left arm and shake.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Catch the brown bottle with red label and shake it instantly.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Shake the long thin bottle after lifting it.", + "Lift the dark drink bottle with logo with the left arm and shake.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Hold the narrow-necked bottle with the left arm and shake lightly.", + "Pick up the long thin bottle and shake it well.", + "Pick up the dark drink bottle with logo and shake it.", + "Grasp the narrow-necked bottle with the left arm and shake it.", + "Use the left arm to pick and shake the red-capped bottle.", + "Lift the narrow-necked bottle with the left arm and shake it.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Shake the brown bottle with red label after grabbing it.", + "Hold the Coca-Cola bottle and shake it properly.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Grab the bottle with ridges on bottom using the left arm, then shake.", + "Secure the dark drink bottle with logo and perform a shake.", + "Use the left arm to grab the dark drink bottle with logo and shake it.", + "Lift the brown bottle with red label and shake it gently.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Grab the medium dark brown bottle carefully and shake.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Shake the medium dark brown bottle after grabbing it.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Grab the medium dark brown bottle and move it to shake.", + "Use the left arm to grab the hand-sized soda bottle and shake properly.", + "Lift up the bottle with white neck and red top using the left arm, then shake.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Shake the plastic drink bottle after grabbing it.", + "Utilize the left arm to hold the long thin bottle and shake it.", + "Use the left arm to hold the red-capped bottle and shake it.", + "Shake the narrow-necked bottle after holding it firmly.", + "Grab the hand-sized soda bottle with the left arm and shake.", + "With the left arm, pick the medium dark brown bottle and shake properly.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Pick the plastic drink bottle up with the left arm and shake.", + "Grab the red-capped bottle and give it a shake.", + "Using the left arm, shake the long thin bottle and then place it back.", + "Hold the narrow-necked bottle, shake it briefly.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Shake the bottle with white neck and red top after lifting it.", + "Lift the long thin bottle with the left arm and shake.", + "Grab the medium dark brown bottle and shake it steadily.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Pick up the brown bottle with red label and shake it well.", + "Pick up the red-capped bottle and shake it.", + "Grasp the hand-sized soda bottle with the left arm and shake it.", + "Use the left arm to pick and shake the brown bottle with red label.", + "Lift the dark drink bottle with logo with the left arm and shake it.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Shake the dark drink bottle with logo after grabbing it.", + "Hold the bottle with white neck and red top and shake it properly.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Pick the long thin bottle up using the left arm and shake it.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Hold and shake the the plastic drink bottle carefully.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Use the left arm to grab the plastic drink bottle and shake it.", + "Lift the plastic drink bottle and shake it gently.", + "Take the brown bottle with red label using the left arm and give it a shake.", + "Lift the bottle with ridges on bottom with the left arm and give it a shake.", + "Grab the narrow-necked bottle carefully and shake.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Shake the bottle with white neck and red top after grabbing it.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Pick the bottle with white neck and red top, shake it with the left arm.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Use the left arm to grab the hand-sized soda bottle and shake properly.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Shake the plastic drink bottle after grabbing it.", + "Utilize the left arm to hold the bottle with white neck and red top and shake it.", + "Use the left arm to hold the brown bottle with red label and shake it.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Grab the smooth bottle with red lid with the left arm and shake." + ], + "unseen": [ + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode274.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode274.json new file mode 100644 index 0000000000000000000000000000000000000000..44487618cf78e91071e88f7b795a51fca2b6da0d --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode274.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the red-capped bottle and move it to shake.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Lift the smooth bottle with red lid with the left arm and shake.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Use the left arm to hold the bottle with ridges on bottom and shake it.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Grab the brown bottle with red label and give it a shake.", + "Shake the brown bottle with red label firmly after grabbing.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Pick the long thin bottle up using the left arm and shake it.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Grab and shake the brown bottle with red label using the left arm.", + "Use the left arm to lift and shake the red-capped bottle.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Hold the bottle with ridges on bottom with the left arm and shake lightly.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Take the long thin bottle using the left arm and give it a shake.", + "Pick the smooth bottle with red lid up with the left arm and shake.", + "Using the left arm, shake the long thin bottle and then place it back.", + "Utilize the left arm to hold the plastic drink bottle and shake it.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Shake the smooth bottle with red lid after lifting it.", + "Shake the brown bottle with red label after grabbing it.", + "Lift the narrow-necked bottle with the left arm and shake it.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Use the left arm to grab the brown bottle with red label and shake it.", + "Hold the plastic drink bottle and shake it properly.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Catch the plastic drink bottle and shake it instantly.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Pick up the narrow-necked bottle and shake it well.", + "Grab the narrow-necked bottle carefully and shake.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Shake the smooth bottle with red lid after grabbing it.", + "Secure the medium dark brown bottle and perform a shake.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Grab the narrow-necked bottle and shake it steadily.", + "Shake the Coca-Cola bottle after grabbing it.", + "Use the left arm to pick and shake the medium dark brown bottle.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "With the left arm, pick the bottle with white neck and red top and shake properly.", + "Grip the bottle with ridges on bottom using the left arm and shake.", + "Pick up the narrow-necked bottle and shake it.", + "Grab the red-capped bottle and move it to shake.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Lift the hand-sized soda bottle and shake it gently.", + "Lift the plastic drink bottle with the left arm and shake.", + "Pick the long thin bottle, shake it with the left arm.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Use the left arm to hold the long thin bottle and shake it.", + "Pick the plastic drink bottle and perform shaking motion.", + "Lift up the long thin bottle using the left arm, then shake.", + "Grab the plastic drink bottle and give it a shake.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Grab the hand-sized soda bottle using the left arm, then shake.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Use the left arm to grab the plastic drink bottle and shake properly.", + "Grab and shake the smooth bottle with red lid using the left arm.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Hold the bottle with ridges on bottom with the left arm and shake lightly.", + "Shake the smooth bottle with red lid using the left arm after grabbing.", + "Take the plastic drink bottle using the left arm and give it a shake.", + "Pick the long thin bottle up with the left arm and shake.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Utilize the left arm to hold the hand-sized soda bottle and shake it.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Shake the long thin bottle after lifting it.", + "Shake the brown bottle with red label after grabbing it.", + "Lift the plastic drink bottle with the left arm and shake it.", + "Grasp the medium dark brown bottle with the left arm and shake it.", + "Grab the brown bottle with red label with the left arm and shake.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Hold the medium dark brown bottle and shake it properly.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Shake the red-capped bottle after holding it firmly.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Grab the smooth bottle with red lid carefully and shake.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Secure the plastic drink bottle and perform a shake.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Lift the red-capped bottle and shake it thoroughly.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Shake the smooth bottle with red lid after grabbing it.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Hold and shake the the plastic drink bottle carefully.", + "Secure the long thin bottle, shake it, and place it down.", + "With the left arm, pick the medium dark brown bottle and shake properly.", + "Grip the Coca-Cola bottle using the left arm and shake.", + "Pick up the plastic drink bottle and shake it." + ], + "unseen": [ + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode275.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode275.json new file mode 100644 index 0000000000000000000000000000000000000000..517ce4392350c5331d0bbb7c1c2c132328c3bbeb --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode275.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Grab the brown bottle with red label and give it a shake.", + "Hold the medium dark brown bottle steady, then shake it.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Grab the dark drink bottle with logo using the left arm, then shake.", + "Pick the long thin bottle up using the left arm and shake it.", + "Shake the plastic drink bottle after grabbing it.", + "Use the left arm to lift and shake the red-capped bottle.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Hold the brown bottle with red label and shake it properly.", + "Lift the brown bottle with red label with the left arm and shake.", + "Grab the smooth bottle with red lid carefully and shake.", + "Pick the medium dark brown bottle up with the left arm and shake.", + "Grip the plastic drink bottle using the left arm and shake.", + "Shake the long thin bottle using the left arm after grabbing.", + "Shake the the brown bottle with red label properly after lifting.", + "Use the left arm to grab the bottle with ridges on bottom and shake it.", + "Use the left arm to hold the long thin bottle and shake it.", + "Secure the long thin bottle and perform a shake.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Use the left arm to grab the dark drink bottle with logo and shake properly.", + "Lift up the bottle with white neck and red top using the left arm, then shake.", + "Pick up the long thin bottle and shake it.", + "Grab and shake the smooth bottle with red lid using the left arm.", + "With the left arm, pick the plastic drink bottle and shake properly.", + "Lift the brown bottle with red label with the left arm and give it a shake.", + "Hold the long thin bottle, shake it briefly.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Catch the medium dark brown bottle and shake it instantly.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Lift the long thin bottle and shake it gently.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Grab the plastic drink bottle and move it to shake.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Pick up the hand-sized soda bottle and shake it well.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Shake the long thin bottle after lifting it.", + "Grab the Coca-Cola bottle with the left arm and shake.", + "Use the left arm to pick and shake the hand-sized soda bottle.", + "Shake the long thin bottle after grabbing it.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Take the medium dark brown bottle using the left arm and give it a shake.", + "Lift the bottle with white neck and red top with the left arm and shake it.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Using the left arm, shake the bottle with white neck and red top and then place it back.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Shake the long thin bottle after grabbing it.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Grab the red-capped bottle and give it a shake.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Grasp the Coca-Cola bottle with the left arm and shake it.", + "Grab the bottle with ridges on bottom using the left arm, then shake.", + "Pick the red-capped bottle up using the left arm and shake it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Use the left arm to lift and shake the long thin bottle.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Hold the long thin bottle and shake it properly.", + "Lift the narrow-necked bottle with the left arm and shake.", + "Grab the smooth bottle with red lid carefully and shake.", + "Pick the bottle with white neck and red top up with the left arm and shake.", + "Grip the bottle with ridges on bottom using the left arm and shake.", + "Shake the bottle with white neck and red top using the left arm after grabbing.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Use the left arm to hold the smooth bottle with red lid and shake it.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Hold and shake the the narrow-necked bottle carefully.", + "Use the left arm to grab the long thin bottle and shake properly.", + "Lift up the bottle with white neck and red top using the left arm, then shake.", + "Pick up the medium dark brown bottle and shake it.", + "Grab and shake the smooth bottle with red lid using the left arm.", + "With the left arm, pick the medium dark brown bottle and shake properly.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Hold the narrow-necked bottle, shake it briefly.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Lift the red-capped bottle and shake it gently.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Grab the narrow-necked bottle and move it to shake.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Pick up the red-capped bottle and shake it well.", + "Grab the medium dark brown bottle and shake it steadily.", + "Shake the long thin bottle after lifting it.", + "Grab the plastic drink bottle with the left arm and shake.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Shake the plastic drink bottle after grabbing it.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Shake the brown bottle with red label firmly after grabbing.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Lift the dark drink bottle with logo with the left arm and shake it.", + "Utilize the left arm to hold the narrow-necked bottle and shake it.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Shake the bottle with white neck and red top after grabbing it." + ], + "unseen": [ + "Grab the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to pick the plastic soda bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode276.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode276.json new file mode 100644 index 0000000000000000000000000000000000000000..4169c77da86222fbabddafb533bf0bc005fdb2a8 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode276.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Utilize the left arm to hold the brown bottle with red label and shake it.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Grip the bottle with ridges on bottom using the left arm and shake.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Using the left arm, shake the narrow-necked bottle and then place it back.", + "Shake the medium dark brown bottle after grabbing it.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Lift the bottle with ridges on bottom with the left arm and shake.", + "Lift up the plastic drink bottle using the left arm, then shake.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Grab the red-capped bottle and shake it steadily.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Pick the hand-sized soda bottle, shake it with the left arm.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Shake the dark drink bottle with logo after holding it firmly.", + "With the left arm, pick the medium dark brown bottle and shake properly.", + "Pick up the plastic drink bottle and shake it.", + "Hold the medium dark brown bottle steady, then shake it.", + "Pick the brown bottle with red label up using the left arm and shake it.", + "Grab the brown bottle with red label with the left arm and shake.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Use the left arm to grab the dark drink bottle with logo and shake it.", + "Hold the narrow-necked bottle and shake it properly.", + "Grab the Coca-Cola bottle carefully and shake.", + "Pick up the bottle with white neck and red top and shake it well.", + "Shake the long thin bottle after grabbing it.", + "Use the left arm to pick and shake the brown bottle with red label.", + "Shake the the plastic drink bottle properly after lifting.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Hold the hand-sized soda bottle with the left arm and shake lightly.", + "Lift the long thin bottle and shake it gently.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Take the dark drink bottle with logo using the left arm and give it a shake.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Grab the bottle with white neck and red top and move it to shake.", + "Use the left arm to hold the medium dark brown bottle and shake it.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Grab and shake the red-capped bottle using the left arm.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Shake the narrow-necked bottle using the left arm after grabbing.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Grasp the hand-sized soda bottle with the left arm and shake it.", + "Grab the smooth bottle with red lid and give it a shake.", + "Shake the narrow-necked bottle after lifting it.", + "Use the left arm to lift and shake the red-capped bottle.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Pick the narrow-necked bottle up with the left arm and shake.", + "Utilize the left arm to hold the brown bottle with red label and shake it.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Grip the brown bottle with red label using the left arm and shake.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Shake the medium dark brown bottle after grabbing it.", + "Secure the bottle with white neck and red top and perform a shake.", + "Shake the brown bottle with red label after grabbing it.", + "Lift the bottle with white neck and red top with the left arm and shake.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Grab the red-capped bottle and shake it steadily.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Pick the bottle with ridges on bottom, shake it with the left arm.", + "Use the left arm to grab the Coca-Cola bottle and shake properly.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Shake the medium dark brown bottle after holding it firmly.", + "With the left arm, pick the red-capped bottle and shake properly.", + "Pick up the hand-sized soda bottle and shake it.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Pick the smooth bottle with red lid up using the left arm and shake it.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "Lift the long thin bottle and shake it thoroughly.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Hold the red-capped bottle and shake it properly.", + "Grab the bottle with white neck and red top carefully and shake.", + "Pick up the smooth bottle with red lid and shake it well.", + "Shake the long thin bottle after grabbing it.", + "Use the left arm to pick and shake the Coca-Cola bottle.", + "Shake the the red-capped bottle properly after lifting.", + "Grab the medium dark brown bottle using the left arm, then shake.", + "Hold the plastic drink bottle with the left arm and shake lightly.", + "Lift the dark drink bottle with logo and shake it gently.", + "Hold the long thin bottle, shake it briefly.", + "Take the red-capped bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Grab the medium dark brown bottle and move it to shake.", + "Use the left arm to hold the red-capped bottle and shake it.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Grab and shake the brown bottle with red label using the left arm.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Grasp the long thin bottle with the left arm and shake it.", + "Grab the medium dark brown bottle and give it a shake.", + "Shake the narrow-necked bottle after lifting it." + ], + "unseen": [ + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode277.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode277.json new file mode 100644 index 0000000000000000000000000000000000000000..bb96a6dcac2ba194d5608d693d3fd1a4a7d3376d --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode277.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the medium dark brown bottle and shake it.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Use the right arm to pick and shake the long thin bottle.", + "Shake the hand-sized soda bottle after grabbing it.", + "Hold the plastic drink bottle steady, then shake it.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Hold the brown bottle with red label with the right arm and shake lightly.", + "Grab the hand-sized soda bottle and give it a shake.", + "Use the right arm to grab the brown bottle with red label and shake it.", + "Grab the bottle with white neck and red top using the right arm, then shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Shake the dark drink bottle with logo using the right arm after grabbing.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "With the right arm, pick the Coca-Cola bottle and shake properly.", + "Grip the Coca-Cola bottle using the right arm and shake.", + "Lift the Coca-Cola bottle and shake it gently.", + "Hold and shake the the brown bottle with red label carefully.", + "Pick the plastic drink bottle up using the right arm and shake it.", + "Hold the narrow-necked bottle and shake it properly.", + "Use the right arm to hold the medium dark brown bottle and shake it.", + "Grab and shake the hand-sized soda bottle using the right arm.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Lift up the brown bottle with red label using the right arm, then shake.", + "Catch the brown bottle with red label and shake it instantly.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Grab the brown bottle with red label carefully and shake.", + "Grab the brown bottle with red label with the right arm and shake.", + "Lift the Coca-Cola bottle with the right arm and shake.", + "Pick the Coca-Cola bottle up with the right arm and shake.", + "Pick up the smooth bottle with red lid and shake it well.", + "Grasp the dark drink bottle with logo with the right arm and shake it.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Pick the smooth bottle with red lid, shake it with the right arm.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Lift the brown bottle with red label with the right arm and give it a shake.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Using the right arm, shake the bottle with white neck and red top and then place it back.", + "Shake the brown bottle with red label after grabbing it.", + "Hold the plastic drink bottle, shake it briefly.", + "Shake the Coca-Cola bottle after lifting it.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Shake the the narrow-necked bottle properly after lifting.", + "Lift the red-capped bottle with the right arm and shake it.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Utilize the right arm to hold the brown bottle with red label and shake it.", + "Take the dark drink bottle with logo using the right arm and give it a shake.", + "Use the right arm to grab the narrow-necked bottle and shake properly.", + "Pick up the Coca-Cola bottle and shake it.", + "Grab the dark drink bottle with logo and move it to shake.", + "Use the right arm to pick and shake the hand-sized soda bottle.", + "Shake the red-capped bottle after grabbing it.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Secure the hand-sized soda bottle and perform a shake.", + "Hold the medium dark brown bottle with the right arm and shake lightly.", + "Grab the hand-sized soda bottle and give it a shake.", + "Use the right arm to grab the brown bottle with red label and shake it.", + "Grab the red-capped bottle using the right arm, then shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Shake the plastic drink bottle after holding it firmly.", + "Shake the brown bottle with red label using the right arm after grabbing.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "With the right arm, pick the bottle with white neck and red top and shake properly.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Lift the medium dark brown bottle and shake it gently.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Pick the red-capped bottle up using the right arm and shake it.", + "Hold the medium dark brown bottle and shake it properly.", + "Use the right arm to hold the red-capped bottle and shake it.", + "Grab and shake the bottle with white neck and red top using the right arm.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Lift up the bottle with white neck and red top using the right arm, then shake.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Use the right arm to lift and shake the red-capped bottle.", + "Grab the brown bottle with red label carefully and shake.", + "Grab the bottle with ridges on bottom with the right arm and shake.", + "Lift the plastic drink bottle with the right arm and shake.", + "Pick the hand-sized soda bottle up with the right arm and shake.", + "Pick up the medium dark brown bottle and shake it well.", + "Grasp the medium dark brown bottle with the right arm and shake it.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Lift the Coca-Cola bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Using the right arm, shake the smooth bottle with red lid and then place it back.", + "Shake the plastic drink bottle after grabbing it.", + "Hold the plastic drink bottle, shake it briefly.", + "Shake the brown bottle with red label after lifting it.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Shake the the long thin bottle properly after lifting.", + "Lift the dark drink bottle with logo with the right arm and shake it.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Utilize the right arm to hold the medium dark brown bottle and shake it.", + "Take the red-capped bottle using the right arm and give it a shake.", + "Use the right arm to grab the smooth bottle with red lid and shake properly." + ], + "unseen": [ + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode278.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode278.json new file mode 100644 index 0000000000000000000000000000000000000000..0a650d2f5e013900f972221365dfc701688fe1d8 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode278.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the plastic drink bottle steady, then shake it.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Pick the long thin bottle and perform shaking motion.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Shake the hand-sized soda bottle after lifting it.", + "Grab the red-capped bottle using the right arm, then shake.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Shake the hand-sized soda bottle after grabbing it.", + "Hold and shake the the brown bottle with red label carefully.", + "Pick the brown bottle with red label up with the right arm and shake.", + "Lift the dark drink bottle with logo with the right arm and shake it.", + "Shake the long thin bottle using the right arm after grabbing.", + "Use the right arm to lift and shake the long thin bottle.", + "Grab the narrow-necked bottle with the right arm and shake.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Pick up the Coca-Cola bottle and shake it.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "With the right arm, pick the plastic drink bottle and shake properly.", + "Pick the narrow-necked bottle up using the right arm and shake it.", + "Use the right arm to hold the bottle with ridges on bottom and shake it.", + "Shake the medium dark brown bottle after grabbing it.", + "Grasp the smooth bottle with red lid with the right arm and shake it.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Grab the smooth bottle with red lid and give it a shake.", + "Hold the Coca-Cola bottle with the right arm and shake lightly.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Lift up the long thin bottle using the right arm, then shake.", + "Grip the narrow-necked bottle using the right arm and shake.", + "Use the right arm to pick and shake the dark drink bottle with logo.", + "Utilize the right arm to hold the hand-sized soda bottle and shake it.", + "Take the dark drink bottle with logo using the right arm and give it a shake.", + "Hold the plastic drink bottle and shake it properly.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Pick up the narrow-necked bottle and shake it well.", + "Grab the hand-sized soda bottle and move it to shake.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Shake the hand-sized soda bottle after grabbing it.", + "Pick the red-capped bottle, shake it with the right arm.", + "Secure the hand-sized soda bottle and perform a shake.", + "Use the right arm to grab the bottle with white neck and red top and shake it.", + "Hold the brown bottle with red label, shake it briefly.", + "Use the right arm to grab the hand-sized soda bottle and shake properly.", + "Lift the smooth bottle with red lid and shake it gently.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Using the right arm, shake the Coca-Cola bottle and then place it back.", + "Grab and shake the medium dark brown bottle using the right arm.", + "Lift the Coca-Cola bottle with the right arm and shake.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Shake the plastic drink bottle firmly after grabbing.", + "Grab the bottle with white neck and red top carefully and shake.", + "Shake the plastic drink bottle after lifting it.", + "Grab the medium dark brown bottle using the right arm, then shake.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Shake the smooth bottle with red lid after grabbing it.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Pick the red-capped bottle up with the right arm and shake.", + "Lift the bottle with ridges on bottom with the right arm and shake it.", + "Shake the long thin bottle using the right arm after grabbing.", + "Use the right arm to lift and shake the long thin bottle.", + "Grab the red-capped bottle with the right arm and shake.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Pick up the narrow-necked bottle and shake it.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "With the right arm, pick the long thin bottle and shake properly.", + "Pick the dark drink bottle with logo up using the right arm and shake it.", + "Use the right arm to hold the hand-sized soda bottle and shake it.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Grasp the medium dark brown bottle with the right arm and shake it.", + "Lift the smooth bottle with red lid with the right arm and give it a shake.", + "Grab the narrow-necked bottle and give it a shake.", + "Hold the narrow-necked bottle with the right arm and shake lightly.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Lift up the bottle with white neck and red top using the right arm, then shake.", + "Grip the long thin bottle using the right arm and shake.", + "Use the right arm to pick and shake the bottle with ridges on bottom.", + "Utilize the right arm to hold the red-capped bottle and shake it.", + "Take the brown bottle with red label using the right arm and give it a shake.", + "Hold the smooth bottle with red lid and shake it properly.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Pick up the long thin bottle and shake it well.", + "Grab the long thin bottle and move it to shake.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Secure the Coca-Cola bottle and perform a shake.", + "Use the right arm to grab the bottle with white neck and red top and shake it.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Use the right arm to grab the red-capped bottle and shake properly.", + "Lift the medium dark brown bottle and shake it gently.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Using the right arm, shake the brown bottle with red label and then place it back.", + "Grab and shake the narrow-necked bottle using the right arm.", + "Lift the narrow-necked bottle with the right arm and shake." + ], + "unseen": [ + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode279.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode279.json new file mode 100644 index 0000000000000000000000000000000000000000..89050e05b16b32af37c0b5eaf8ca884cccd9cbed --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode279.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the right arm, pick the bottle with ridges near base and shake properly.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Shake the plastic bottle after grabbing it.", + "Grab the bottle with rounded neck and shake it steadily.", + "Shake the handheld green bottle after lifting it.", + "Lift the bottle with rounded neck and shake it gently.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Pick up the bottle with narrow top and shake it.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Lift the medium green bottle with the right arm and give it a shake.", + "Shake the medium green bottle using the right arm after grabbing.", + "Utilize the right arm to hold the medium green bottle with capped neck and shake it.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Hold the medium green bottle steady, then shake it.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Grab the bottle with white printed label and give it a shake.", + "Pick the smooth green bottle, shake it with the right arm.", + "Use the right arm to lift and shake the plastic bottle.", + "Take the bottle with white printed label using the right arm and give it a shake.", + "Grab the medium-sized green bottle and move it to shake.", + "Lift the plastic bottle with the right arm and shake.", + "Hold the bottle with rounded neck with the right arm and shake lightly.", + "Use the right arm to hold the bottle with white printed label and shake it.", + "Lift the smooth green plastic bottle with the right arm and shake it.", + "Grab the smooth green plastic bottle using the right arm, then shake.", + "Hold and shake the the handheld green bottle carefully.", + "Shake the the green bottle with indented base properly after lifting.", + "Hold the green bottle with indented base, shake it briefly.", + "Shake the medium-sized green bottle after grabbing it.", + "Grasp the bottle with ridges near base with the right arm and shake it.", + "Use the right arm to grab the bottle with narrow top and shake properly.", + "Catch the bottle with narrow top and shake it instantly.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Grip the bottle with white printed label using the right arm and shake.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Pick the medium green bottle up using the right arm and shake it.", + "Grab the handheld green bottle with the right arm and shake.", + "Lift up the bottle with narrow top using the right arm, then shake.", + "Secure the bottle with rounded neck and perform a shake.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Shake the green bottle with indented base firmly after grabbing.", + "Hold the bottle with ridges near base and shake it properly.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "Pick the bottle with rounded neck up with the right arm and shake.", + "Shake the medium green bottle after grabbing it.", + "Grab and shake the medium-sized green bottle using the right arm.", + "Grab the medium green bottle carefully and shake.", + "Pick the bottle with white printed label and perform shaking motion.", + "Use the right arm to pick and shake the medium green bottle with capped neck.", + "Shake the medium-sized green bottle after holding it firmly.", + "With the right arm, pick the bottle with narrow top and shake properly.", + "Using the right arm, shake the bottle with ridges near base and then place it back.", + "Shake the bottle with white printed label after grabbing it.", + "Grab the smooth green bottle and shake it steadily.", + "Shake the medium green bottle with capped neck after lifting it.", + "Lift the bottle with white printed label and shake it gently.", + "Secure the plastic bottle, shake it, and place it down.", + "Pick up the medium-sized green bottle and shake it.", + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Lift the green bottle with indented base with the right arm and give it a shake.", + "Shake the smooth green plastic bottle using the right arm after grabbing.", + "Utilize the right arm to hold the medium green bottle with capped neck and shake it.", + "Lift the smooth green bottle and shake it thoroughly.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Grab the smooth green plastic bottle and give it a shake.", + "Pick the bottle with rounded neck, shake it with the right arm.", + "Use the right arm to lift and shake the handheld green bottle.", + "Take the medium-sized green bottle using the right arm and give it a shake.", + "Grab the bottle with rounded neck and move it to shake.", + "Lift the handheld green bottle with the right arm and shake.", + "Hold the bottle with white printed label with the right arm and shake lightly.", + "Use the right arm to hold the bottle with white printed label and shake it.", + "Lift the medium green bottle with the right arm and shake it.", + "Grab the bottle with ridges near base using the right arm, then shake.", + "Hold and shake the the medium-sized green bottle carefully.", + "Shake the the bottle with white printed label properly after lifting.", + "Hold the bottle with narrow top, shake it briefly.", + "Shake the bottle with white printed label after grabbing it.", + "Grasp the medium green bottle with the right arm and shake it.", + "Use the right arm to grab the smooth green plastic bottle and shake properly.", + "Catch the bottle with ridges near base and shake it instantly.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Grip the smooth green bottle using the right arm and shake.", + "Pick up the medium green bottle and shake it well.", + "Pick the smooth green plastic bottle up using the right arm and shake it.", + "Grab the medium-sized green bottle with the right arm and shake.", + "Lift up the bottle with ridges near base using the right arm, then shake.", + "Secure the smooth green bottle and perform a shake.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Shake the medium green bottle firmly after grabbing.", + "Hold the medium-sized green bottle and shake it properly.", + "Use the right arm to grab the bottle with narrow top and shake it.", + "Pick the medium green bottle with capped neck up with the right arm and shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Grab and shake the bottle with white printed label using the right arm.", + "Grab the medium green bottle carefully and shake.", + "Pick the smooth green bottle and perform shaking motion.", + "Use the right arm to pick and shake the medium green bottle.", + "Shake the bottle with ridges near base after holding it firmly." + ], + "unseen": [ + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode28.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..b94331d88c60801a57c085046a93fa2666f4e883 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the smooth green bottle thoroughly after grabbing it.", + "Shake the medium green bottle after lifting it.", + "Grip the medium green bottle using the right arm and shake.", + "Shake the bottle with narrow top using the right arm after grabbing.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Lift the bottle with ridges near base with the right arm and give it a shake.", + "Utilize the right arm to hold the medium green bottle and shake it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Using the right arm, shake the bottle with white printed label and then place it back.", + "Lift the handheld green bottle with the right arm and shake it.", + "With the right arm, pick the bottle with ridges near base and shake properly.", + "Hold the bottle with narrow top, shake it briefly.", + "Grab the green bottle with indented base and shake it steadily.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Hold the bottle with rounded neck and shake it properly.", + "Shake the medium green bottle after grabbing it.", + "Pick the medium green bottle with capped neck up with the right arm and shake.", + "Grab and shake the plastic bottle using the right arm.", + "Grab the handheld green bottle using the right arm, then shake.", + "Shake the bottle with white printed label after holding it firmly.", + "Pick up the smooth green bottle and shake it well.", + "Use the right arm to pick and shake the medium green bottle.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Grab the bottle with rounded neck and move it to shake.", + "Lift the plastic bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with indented base and shake it.", + "Lift up the bottle with rounded neck using the right arm, then shake.", + "Grasp the medium-sized green bottle with the right arm and shake it.", + "Lift the handheld green bottle and shake it gently.", + "Use the right arm to lift and shake the handheld green bottle.", + "Pick the smooth green plastic bottle, shake it with the right arm.", + "Grab the smooth green plastic bottle carefully and shake.", + "Grab the medium green bottle and give it a shake.", + "Pick the medium green bottle with capped neck up using the right arm and shake it.", + "Use the right arm to hold the medium-sized green bottle and shake it.", + "Shake the smooth green bottle after grabbing it.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Pick up the handheld green bottle and shake it.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Use the right arm to lift and shake the plastic bottle.", + "Hold and shake the the bottle with white printed label carefully.", + "Grab the bottle with ridges near base with the right arm and shake.", + "Secure the bottle with rounded neck and perform a shake.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Take the smooth green bottle using the right arm and give it a shake.", + "Catch the bottle with narrow top and shake it instantly.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Shake the medium green bottle with capped neck after lifting it.", + "Grip the plastic bottle using the right arm and shake.", + "Shake the bottle with white printed label using the right arm after grabbing.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Lift the smooth green bottle with the right arm and give it a shake.", + "Utilize the right arm to hold the handheld green bottle and shake it.", + "Shake the bottle with rounded neck after grabbing it.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Using the right arm, shake the smooth green plastic bottle and then place it back.", + "Lift the smooth green plastic bottle with the right arm and shake it.", + "With the right arm, pick the handheld green bottle and shake properly.", + "Hold the handheld green bottle, shake it briefly.", + "Grab the bottle with narrow top and shake it steadily.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Shake the bottle with narrow top after grabbing it.", + "Pick the bottle with white printed label up with the right arm and shake.", + "Grab and shake the bottle with white printed label using the right arm.", + "Grab the bottle with white printed label using the right arm, then shake.", + "Shake the bottle with narrow top after holding it firmly.", + "Pick up the medium green bottle and shake it well.", + "Use the right arm to pick and shake the bottle with rounded neck.", + "Hold the medium green bottle with capped neck with the right arm and shake lightly.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Grab the medium-sized green bottle and move it to shake.", + "Lift the bottle with ridges near base with the right arm and shake.", + "Use the right arm to grab the bottle with white printed label and shake it.", + "Lift up the smooth green bottle using the right arm, then shake.", + "Grasp the plastic bottle with the right arm and shake it.", + "Lift the medium-sized green bottle and shake it gently.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Pick the handheld green bottle, shake it with the right arm.", + "Grab the bottle with ridges near base carefully and shake.", + "Grab the smooth green bottle and give it a shake.", + "Pick the plastic bottle up using the right arm and shake it.", + "Use the right arm to hold the medium green bottle and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Pick up the plastic bottle and shake it.", + "Use the right arm to grab the bottle with ridges near base and shake properly.", + "Hold the handheld green bottle steady, then shake it.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Grab the medium-sized green bottle with the right arm and shake.", + "Secure the medium-sized green bottle and perform a shake.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Take the medium green bottle with capped neck using the right arm and give it a shake.", + "Catch the green bottle with indented base and shake it instantly." + ], + "unseen": [ + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode280.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode280.json new file mode 100644 index 0000000000000000000000000000000000000000..78893a2c732fc2b484b04a70ed70a0077fde16a6 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode280.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the narrow-necked bottle up using the right arm and shake it.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Lift the red-capped bottle and shake it thoroughly.", + "Shake the hand-sized soda bottle using the right arm after grabbing.", + "Grab the hand-sized soda bottle carefully and shake.", + "Pick up the dark drink bottle with logo and shake it.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Grab the bottle with white neck and red top and give it a shake.", + "Using the right arm, shake the hand-sized soda bottle and then place it back.", + "Lift the long thin bottle with the right arm and shake it.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Grab the Coca-Cola bottle and move it to shake.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Grasp the dark drink bottle with logo with the right arm and shake it.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Use the right arm to hold the brown bottle with red label and shake it.", + "Grip the brown bottle with red label using the right arm and shake.", + "Pick up the red-capped bottle and shake it well.", + "Lift up the bottle with ridges on bottom using the right arm, then shake.", + "Hold the long thin bottle with the right arm and shake lightly.", + "Shake the long thin bottle after grabbing it.", + "Utilize the right arm to hold the medium dark brown bottle and shake it.", + "With the right arm, pick the plastic drink bottle and shake properly.", + "Pick the red-capped bottle up with the right arm and shake.", + "Shake the long thin bottle after grabbing it.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Lift the plastic drink bottle and shake it gently.", + "Use the right arm to grab the hand-sized soda bottle and shake it.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Use the right arm to grab the smooth bottle with red lid and shake properly.", + "Hold the narrow-necked bottle steady, then shake it.", + "Lift the dark drink bottle with logo with the right arm and shake.", + "Take the narrow-necked bottle using the right arm and give it a shake.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Hold the Coca-Cola bottle and shake it properly.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Pick the dark drink bottle with logo, shake it with the right arm.", + "Use the right arm to pick and shake the narrow-necked bottle.", + "Grab the dark drink bottle with logo with the right arm and shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Shake the Coca-Cola bottle after lifting it.", + "Lift the bottle with white neck and red top with the right arm and give it a shake.", + "Grab the dark drink bottle with logo using the right arm, then shake.", + "Grab the medium dark brown bottle and shake it steadily.", + "Shake the the long thin bottle properly after lifting.", + "Secure the medium dark brown bottle and perform a shake.", + "Grab and shake the bottle with white neck and red top using the right arm.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Pick the bottle with ridges on bottom up using the right arm and shake it.", + "Hold and shake the the red-capped bottle carefully.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Shake the bottle with white neck and red top using the right arm after grabbing.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Pick up the smooth bottle with red lid and shake it.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Grab the plastic drink bottle and give it a shake.", + "Using the right arm, shake the plastic drink bottle and then place it back.", + "Lift the medium dark brown bottle with the right arm and shake it.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Grab the brown bottle with red label and move it to shake.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Grasp the red-capped bottle with the right arm and shake it.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Use the right arm to hold the long thin bottle and shake it.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Pick up the dark drink bottle with logo and shake it well.", + "Lift up the dark drink bottle with logo using the right arm, then shake.", + "Hold the smooth bottle with red lid with the right arm and shake lightly.", + "Shake the red-capped bottle after grabbing it.", + "Utilize the right arm to hold the medium dark brown bottle and shake it.", + "With the right arm, pick the plastic drink bottle and shake properly.", + "Pick the brown bottle with red label up with the right arm and shake.", + "Shake the plastic drink bottle after grabbing it.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Lift the long thin bottle and shake it gently.", + "Use the right arm to grab the smooth bottle with red lid and shake it.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Use the right arm to grab the plastic drink bottle and shake properly.", + "Hold the brown bottle with red label steady, then shake it.", + "Lift the long thin bottle with the right arm and shake.", + "Take the narrow-necked bottle using the right arm and give it a shake.", + "Shake the red-capped bottle after holding it firmly.", + "Hold the plastic drink bottle and shake it properly.", + "Catch the brown bottle with red label and shake it instantly.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Pick the smooth bottle with red lid, shake it with the right arm.", + "Use the right arm to pick and shake the medium dark brown bottle.", + "Grab the medium dark brown bottle with the right arm and shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the red-capped bottle after lifting it.", + "Lift the medium dark brown bottle with the right arm and give it a shake.", + "Grab the long thin bottle using the right arm, then shake.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Shake the the narrow-necked bottle properly after lifting.", + "Secure the medium dark brown bottle and perform a shake.", + "Grab and shake the dark drink bottle with logo using the right arm.", + "Pick the bottle with ridges on bottom and perform shaking motion." + ], + "unseen": [ + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode281.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode281.json new file mode 100644 index 0000000000000000000000000000000000000000..4624ab32f689f57b810d68518e97fe21f610ab89 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode281.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the medium green bottle with capped neck after holding it firmly.", + "Secure the smooth green bottle, shake it, and place it down.", + "Use the left arm to grab the bottle with narrow top and shake properly.", + "Hold the medium green bottle with the left arm and shake lightly.", + "Use the left arm to grab the smooth green plastic bottle and shake it.", + "Pick the medium green bottle with capped neck up with the left arm and shake.", + "Shake the handheld green bottle after grabbing it.", + "Lift the smooth green bottle with the left arm and shake.", + "Grip the medium green bottle using the left arm and shake.", + "Lift the bottle with white printed label with the left arm and shake it.", + "Hold the green bottle with indented base steady, then shake it.", + "Pick the plastic bottle and perform shaking motion.", + "Lift up the bottle with white printed label using the left arm, then shake.", + "Grab the handheld green bottle and move it to shake.", + "Grab the medium green bottle with the left arm and shake.", + "Shake the smooth green bottle after lifting it.", + "Use the left arm to hold the green bottle with indented base and shake it.", + "Grab and shake the bottle with rounded neck using the left arm.", + "Hold and shake the the bottle with narrow top carefully.", + "Lift the smooth green plastic bottle with the left arm and give it a shake.", + "Grab the bottle with white printed label using the left arm, then shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Pick the bottle with narrow top up using the left arm and shake it.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Lift the smooth green plastic bottle and shake it gently.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Pick the handheld green bottle, shake it with the left arm.", + "Grab the medium-sized green bottle carefully and shake.", + "Secure the handheld green bottle and perform a shake.", + "Utilize the left arm to hold the medium-sized green bottle and shake it.", + "Shake the smooth green plastic bottle using the left arm after grabbing.", + "Pick up the bottle with white printed label and shake it.", + "Use the left arm to lift and shake the smooth green bottle.", + "With the left arm, pick the bottle with ridges near base and shake properly.", + "Shake the the bottle with ridges near base properly after lifting.", + "Shake the smooth green bottle firmly after grabbing.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Hold the green bottle with indented base and shake it properly.", + "Use the left arm to pick and shake the plastic bottle.", + "Use the left arm to lift and shake the smooth green bottle.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Pick up the smooth green bottle and shake it well.", + "Hold the bottle with rounded neck, shake it briefly.", + "Using the left arm, shake the bottle with narrow top and then place it back.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Catch the smooth green bottle and shake it instantly.", + "Grasp the handheld green bottle with the left arm and shake it.", + "Grab the medium green bottle and shake it steadily.", + "Shake the medium green bottle with capped neck after holding it firmly.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Use the left arm to grab the handheld green bottle and shake properly.", + "Hold the medium green bottle with capped neck with the left arm and shake lightly.", + "Use the left arm to grab the bottle with ridges near base and shake it.", + "Pick the green bottle with indented base up with the left arm and shake.", + "Shake the smooth green bottle after grabbing it.", + "Lift the green bottle with indented base with the left arm and shake.", + "Grip the bottle with rounded neck using the left arm and shake.", + "Lift the medium green bottle with the left arm and shake it.", + "Hold the bottle with narrow top steady, then shake it.", + "Pick the medium green bottle and perform shaking motion.", + "Lift up the bottle with white printed label using the left arm, then shake.", + "Grab the bottle with white printed label and move it to shake.", + "Grab the bottle with narrow top with the left arm and shake.", + "Shake the bottle with ridges near base after lifting it.", + "Use the left arm to hold the bottle with rounded neck and shake it.", + "Grab and shake the medium-sized green bottle using the left arm.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Lift the bottle with narrow top with the left arm and give it a shake.", + "Grab the bottle with rounded neck using the left arm, then shake.", + "Shake the bottle with rounded neck after grabbing it.", + "Pick the medium green bottle with capped neck up using the left arm and shake it.", + "Take the medium green bottle using the left arm and give it a shake.", + "Grab the bottle with rounded neck and give it a shake.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Lift the smooth green bottle and shake it gently.", + "Shake the bottle with ridges near base after grabbing it.", + "Pick the handheld green bottle, shake it with the left arm.", + "Grab the plastic bottle carefully and shake.", + "Secure the bottle with white printed label and perform a shake.", + "Utilize the left arm to hold the smooth green plastic bottle and shake it.", + "Shake the medium-sized green bottle using the left arm after grabbing.", + "Pick up the bottle with narrow top and shake it.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Shake the the smooth green bottle properly after lifting.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Use the left arm to lift and shake the plastic bottle.", + "Hold the smooth green plastic bottle and shake it properly.", + "Use the left arm to pick and shake the plastic bottle.", + "Use the left arm to lift and shake the plastic bottle.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Hold the plastic bottle, shake it briefly.", + "Using the left arm, shake the medium-sized green bottle and then place it back.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Grasp the plastic bottle with the left arm and shake it.", + "Grab the medium green bottle with capped neck and shake it steadily." + ], + "unseen": [ + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode282.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode282.json new file mode 100644 index 0000000000000000000000000000000000000000..04ac18948946429cb507f807dbcfe63bc2425ae7 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode282.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the handheld green bottle using the right arm after grabbing.", + "Grab the bottle with rounded neck and shake it steadily.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Shake the plastic bottle after grabbing it.", + "Lift the bottle with narrow top with the right arm and shake it.", + "Use the right arm to lift and shake the handheld green bottle.", + "Pick the smooth green plastic bottle up with the right arm and shake.", + "Use the right arm to lift and shake the handheld green bottle.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Lift the plastic bottle and shake it thoroughly.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Grab the medium green bottle with capped neck with the right arm and shake.", + "Shake the bottle with narrow top after grabbing it.", + "Use the right arm to pick and shake the bottle with ridges near base.", + "Shake the medium-sized green bottle after grabbing it.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Hold the bottle with narrow top, shake it briefly.", + "Lift the bottle with rounded neck with the right arm and shake.", + "Pick up the handheld green bottle and shake it well.", + "Grab the smooth green bottle and move it to shake.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Lift the medium-sized green bottle and shake it gently.", + "Secure the smooth green bottle, shake it, and place it down.", + "Hold the medium-sized green bottle and shake it properly.", + "Use the right arm to hold the bottle with rounded neck and shake it.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Using the right arm, shake the medium green bottle with capped neck and then place it back.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "Pick up the bottle with narrow top and shake it.", + "Grab the green bottle with indented base carefully and shake.", + "Lift up the plastic bottle using the right arm, then shake.", + "Utilize the right arm to hold the bottle with narrow top and shake it.", + "Shake the bottle with white printed label firmly after grabbing.", + "Catch the bottle with ridges near base and shake it instantly.", + "Grab and shake the bottle with rounded neck using the right arm.", + "With the right arm, pick the smooth green bottle and shake properly.", + "Grab the bottle with rounded neck using the right arm, then shake.", + "Pick the green bottle with indented base up using the right arm and shake it.", + "Use the right arm to grab the smooth green plastic bottle and shake properly.", + "Shake the handheld green bottle after lifting it.", + "Hold the smooth green bottle steady, then shake it.", + "Grasp the handheld green bottle with the right arm and shake it.", + "Pick the green bottle with indented base, shake it with the right arm.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Grab the medium green bottle and give it a shake.", + "Shake the the plastic bottle properly after lifting.", + "Take the smooth green bottle using the right arm and give it a shake.", + "Grip the bottle with ridges near base using the right arm and shake.", + "Shake the green bottle with indented base after holding it firmly.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Shake the bottle with rounded neck using the right arm after grabbing.", + "Grab the medium green bottle and shake it steadily.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Shake the bottle with white printed label after grabbing it.", + "Lift the medium-sized green bottle with the right arm and shake it.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Pick the bottle with ridges near base up with the right arm and shake.", + "Use the right arm to lift and shake the medium green bottle.", + "Secure the plastic bottle and perform a shake.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Hold and shake the the green bottle with indented base carefully.", + "Grab the smooth green plastic bottle with the right arm and shake.", + "Shake the bottle with rounded neck after grabbing it.", + "Use the right arm to pick and shake the medium green bottle.", + "Shake the medium-sized green bottle after grabbing it.", + "Lift the bottle with ridges near base with the right arm and give it a shake.", + "Hold the handheld green bottle, shake it briefly.", + "Lift the bottle with white printed label with the right arm and shake.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Grab the medium green bottle and move it to shake.", + "Hold the medium green bottle with the right arm and shake lightly.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Use the right arm to hold the green bottle with indented base and shake it.", + "Pick the medium green bottle and perform shaking motion.", + "Using the right arm, shake the medium green bottle with capped neck and then place it back.", + "Use the right arm to grab the smooth green bottle and shake it.", + "Pick up the smooth green bottle and shake it.", + "Grab the smooth green bottle carefully and shake.", + "Lift up the green bottle with indented base using the right arm, then shake.", + "Utilize the right arm to hold the bottle with rounded neck and shake it.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Catch the bottle with rounded neck and shake it instantly.", + "Grab and shake the plastic bottle using the right arm.", + "With the right arm, pick the medium green bottle and shake properly.", + "Grab the medium-sized green bottle using the right arm, then shake.", + "Pick the bottle with ridges near base up using the right arm and shake it.", + "Use the right arm to grab the medium green bottle with capped neck and shake properly.", + "Shake the smooth green plastic bottle after lifting it.", + "Hold the plastic bottle steady, then shake it.", + "Grasp the medium-sized green bottle with the right arm and shake it.", + "Pick the handheld green bottle, shake it with the right arm.", + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Grab the bottle with narrow top and give it a shake.", + "Shake the the plastic bottle properly after lifting.", + "Take the handheld green bottle using the right arm and give it a shake.", + "Grip the plastic bottle using the right arm and shake.", + "Shake the plastic bottle after holding it firmly.", + "Use the right arm to lift and shake the smooth green bottle." + ], + "unseen": [ + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode283.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode283.json new file mode 100644 index 0000000000000000000000000000000000000000..29ffa88fb8bc4f5603fe0a3b4b67f13dfbf58c4c --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode283.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with white printed label after holding it firmly.", + "Hold and shake the the green bottle with indented base carefully.", + "Pick up the handheld green bottle and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Lift the medium green bottle with the left arm and give it a shake.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Shake the medium-sized green bottle after grabbing it.", + "Secure the medium-sized green bottle and perform a shake.", + "Grasp the bottle with white printed label with the left arm and shake it.", + "Use the left arm to lift and shake the medium green bottle.", + "Grab the handheld green bottle and shake it steadily.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Shake the bottle with narrow top firmly after grabbing.", + "Grab and shake the bottle with narrow top using the left arm.", + "Pick up the plastic bottle and shake it well.", + "Pick the green bottle with indented base, shake it with the left arm.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Grab the bottle with narrow top carefully and shake.", + "Hold the handheld green bottle with the left arm and shake lightly.", + "Use the left arm to hold the smooth green plastic bottle and shake it.", + "Grab the bottle with rounded neck and move it to shake.", + "Hold the bottle with white printed label steady, then shake it.", + "Use the left arm to grab the medium green bottle and shake properly.", + "Hold the smooth green bottle, shake it briefly.", + "Lift the medium green bottle and shake it gently.", + "Shake the smooth green plastic bottle after lifting it.", + "Lift up the smooth green bottle using the left arm, then shake.", + "Lift the medium green bottle with the left arm and shake.", + "Use the left arm to lift and shake the handheld green bottle.", + "Use the left arm to pick and shake the smooth green plastic bottle.", + "Use the left arm to grab the smooth green bottle and shake it.", + "Pick the bottle with white printed label up with the left arm and shake.", + "With the left arm, pick the medium-sized green bottle and shake properly.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Catch the medium green bottle and shake it instantly.", + "Lift the plastic bottle with the left arm and shake it.", + "Pick the plastic bottle up using the left arm and shake it.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Grip the medium-sized green bottle using the left arm and shake.", + "Grab the medium green bottle with capped neck with the left arm and shake.", + "Using the left arm, shake the green bottle with indented base and then place it back.", + "Take the smooth green bottle using the left arm and give it a shake.", + "Shake the bottle with narrow top using the left arm after grabbing.", + "Grab the bottle with ridges near base and give it a shake.", + "Shake the the bottle with ridges near base properly after lifting.", + "Shake the bottle with rounded neck after grabbing it.", + "Grab the bottle with ridges near base using the left arm, then shake.", + "Lift the smooth green bottle and shake it thoroughly.", + "Shake the medium-sized green bottle after holding it firmly.", + "Hold and shake the the medium green bottle carefully.", + "Pick up the medium green bottle and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Lift the bottle with rounded neck with the left arm and give it a shake.", + "Hold the smooth green bottle and shake it properly.", + "Shake the plastic bottle after grabbing it.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Grasp the handheld green bottle with the left arm and shake it.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Grab the medium-sized green bottle and shake it steadily.", + "Utilize the left arm to hold the smooth green bottle and shake it.", + "Shake the green bottle with indented base firmly after grabbing.", + "Grab and shake the bottle with white printed label using the left arm.", + "Pick up the bottle with narrow top and shake it well.", + "Pick the green bottle with indented base, shake it with the left arm.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Pick the bottle with white printed label and perform shaking motion.", + "Grab the smooth green bottle carefully and shake.", + "Hold the medium green bottle with the left arm and shake lightly.", + "Use the left arm to hold the plastic bottle and shake it.", + "Grab the bottle with ridges near base and move it to shake.", + "Hold the plastic bottle steady, then shake it.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Hold the bottle with white printed label, shake it briefly.", + "Lift the medium green bottle and shake it gently.", + "Shake the medium green bottle with capped neck after lifting it.", + "Lift up the smooth green bottle using the left arm, then shake.", + "Lift the plastic bottle with the left arm and shake.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Use the left arm to pick and shake the medium green bottle.", + "Use the left arm to grab the green bottle with indented base and shake it.", + "Pick the medium green bottle up with the left arm and shake.", + "With the left arm, pick the bottle with ridges near base and shake properly.", + "Secure the handheld green bottle, shake it, and place it down.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Catch the bottle with ridges near base and shake it instantly.", + "Lift the handheld green bottle with the left arm and shake it.", + "Pick the medium-sized green bottle up using the left arm and shake it.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "Grab the medium green bottle with capped neck with the left arm and shake.", + "Using the left arm, shake the smooth green bottle and then place it back.", + "Take the medium green bottle using the left arm and give it a shake.", + "Shake the smooth green bottle using the left arm after grabbing.", + "Grab the bottle with rounded neck and give it a shake.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Shake the smooth green bottle after grabbing it.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Lift the medium green bottle with capped neck and shake it thoroughly." + ], + "unseen": [ + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode284.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode284.json new file mode 100644 index 0000000000000000000000000000000000000000..d50d77ee60d258e12d794ea5ff120d3ae630b90d --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode284.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift up the medium green bottle with capped neck using the right arm, then shake.", + "Grab the bottle with rounded neck using the right arm, then shake.", + "Lift the smooth green plastic bottle and shake it gently.", + "Use the right arm to hold the smooth green bottle and shake it.", + "Using the right arm, shake the medium-sized green bottle and then place it back.", + "Hold and shake the the smooth green bottle carefully.", + "Shake the the plastic bottle properly after lifting.", + "Grip the handheld green bottle using the right arm and shake.", + "Pick the medium-sized green bottle up using the right arm and shake it.", + "Shake the bottle with narrow top firmly after grabbing.", + "Hold the bottle with ridges near base steady, then shake it.", + "Grab the medium green bottle with capped neck and shake it steadily.", + "Shake the medium green bottle after holding it firmly.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Shake the green bottle with indented base after grabbing it.", + "Grab the bottle with narrow top carefully and shake.", + "Shake the green bottle with indented base using the right arm after grabbing.", + "Pick the bottle with white printed label up with the right arm and shake.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Use the right arm to pick and shake the medium green bottle.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Pick up the medium green bottle and shake it.", + "Shake the smooth green bottle after grabbing it.", + "Hold the bottle with rounded neck with the right arm and shake lightly.", + "Grab the bottle with white printed label and give it a shake.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Utilize the right arm to hold the medium green bottle and shake it.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Lift the bottle with ridges near base with the right arm and give it a shake.", + "Use the right arm to grab the smooth green bottle and shake properly.", + "Grasp the medium green bottle with the right arm and shake it.", + "With the right arm, pick the medium-sized green bottle and shake properly.", + "Shake the bottle with white printed label after lifting it.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Hold the plastic bottle, shake it briefly.", + "Grab the smooth green bottle with the right arm and shake.", + "Shake the handheld green bottle after grabbing it.", + "Lift the plastic bottle and shake it thoroughly.", + "Catch the bottle with ridges near base and shake it instantly.", + "Pick up the bottle with rounded neck and shake it well.", + "Grab and shake the bottle with ridges near base using the right arm.", + "Use the right arm to grab the smooth green bottle and shake it.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Take the bottle with rounded neck using the right arm and give it a shake.", + "Lift the bottle with white printed label with the right arm and shake it.", + "Pick the bottle with rounded neck, shake it with the right arm.", + "Lift the bottle with white printed label with the right arm and shake.", + "Lift up the smooth green plastic bottle using the right arm, then shake.", + "Grab the bottle with narrow top using the right arm, then shake.", + "Lift the bottle with rounded neck and shake it gently.", + "Use the right arm to hold the medium-sized green bottle and shake it.", + "Using the right arm, shake the medium-sized green bottle and then place it back.", + "Hold and shake the the handheld green bottle carefully.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Grip the smooth green plastic bottle using the right arm and shake.", + "Pick the bottle with white printed label up using the right arm and shake it.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Hold the green bottle with indented base steady, then shake it.", + "Grab the medium green bottle with capped neck and shake it steadily.", + "Shake the green bottle with indented base after holding it firmly.", + "Pick the handheld green bottle and perform shaking motion.", + "Secure the bottle with narrow top and perform a shake.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Shake the bottle with narrow top after grabbing it.", + "Grab the bottle with narrow top carefully and shake.", + "Shake the medium green bottle using the right arm after grabbing.", + "Pick the bottle with ridges near base up with the right arm and shake.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Use the right arm to pick and shake the smooth green bottle.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Pick up the bottle with rounded neck and shake it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Hold the green bottle with indented base with the right arm and shake lightly.", + "Grab the handheld green bottle and give it a shake.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Utilize the right arm to hold the medium green bottle and shake it.", + "Hold the smooth green plastic bottle and shake it properly.", + "Lift the bottle with white printed label with the right arm and give it a shake.", + "Use the right arm to grab the smooth green bottle and shake properly.", + "Grasp the medium green bottle with the right arm and shake it.", + "With the right arm, pick the bottle with white printed label and shake properly.", + "Shake the smooth green bottle after lifting it.", + "Grab the medium green bottle and move it to shake.", + "Hold the smooth green bottle, shake it briefly.", + "Grab the bottle with ridges near base with the right arm and shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Lift the smooth green bottle and shake it thoroughly.", + "Catch the bottle with white printed label and shake it instantly.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Grab and shake the plastic bottle using the right arm.", + "Use the right arm to grab the green bottle with indented base and shake it.", + "Use the right arm to lift and shake the smooth green bottle.", + "Take the smooth green plastic bottle using the right arm and give it a shake.", + "Lift the handheld green bottle with the right arm and shake it.", + "Pick the bottle with ridges near base, shake it with the right arm.", + "Lift the bottle with white printed label with the right arm and shake." + ], + "unseen": [ + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with the right arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode285.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode285.json new file mode 100644 index 0000000000000000000000000000000000000000..fffc235a9c133b9e3094d9e6fb61401c2a540574 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode285.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the brown bottle with red label up using the left arm and shake it.", + "Lift the medium dark brown bottle with the left arm and give it a shake.", + "Grab the narrow-necked bottle and give it a shake.", + "Utilize the left arm to hold the bottle with white neck and red top and shake it.", + "Grab and shake the narrow-necked bottle using the left arm.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Use the left arm to lift and shake the red-capped bottle.", + "Secure the red-capped bottle, shake it, and place it down.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Take the brown bottle with red label using the left arm and give it a shake.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Lift up the dark drink bottle with logo using the left arm, then shake.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Shake the medium dark brown bottle after grabbing it.", + "Pick the long thin bottle and perform shaking motion.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Hold and shake the the medium dark brown bottle carefully.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Shake the narrow-necked bottle after lifting it.", + "Shake the narrow-necked bottle after holding it firmly.", + "Lift the hand-sized soda bottle and shake it gently.", + "Grasp the bottle with white neck and red top with the left arm and shake it.", + "Use the left arm to hold the hand-sized soda bottle and shake it.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Hold the bottle with white neck and red top and shake it properly.", + "Grab the smooth bottle with red lid carefully and shake.", + "Grip the brown bottle with red label using the left arm and shake.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Catch the red-capped bottle and shake it instantly.", + "Use the left arm to lift and shake the red-capped bottle.", + "Pick up the long thin bottle and shake it.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Pick the red-capped bottle, shake it with the left arm.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Grab the bottle with white neck and red top with the left arm and shake.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grab the brown bottle with red label and shake it steadily.", + "Pick up the dark drink bottle with logo and shake it well.", + "Shake the smooth bottle with red lid after grabbing it.", + "Use the left arm to grab the smooth bottle with red lid and shake it.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Grab the bottle with ridges on bottom using the left arm, then shake.", + "Grab the medium dark brown bottle and move it to shake.", + "Shake the the red-capped bottle properly after lifting.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Lift the dark drink bottle with logo with the left arm and give it a shake.", + "Grab the brown bottle with red label and give it a shake.", + "Utilize the left arm to hold the plastic drink bottle and shake it.", + "Grab and shake the dark drink bottle with logo using the left arm.", + "With the left arm, pick the hand-sized soda bottle and shake properly.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Secure the long thin bottle, shake it, and place it down.", + "Lift the Coca-Cola bottle with the left arm and shake.", + "Take the dark drink bottle with logo using the left arm and give it a shake.", + "Hold the red-capped bottle with the left arm and shake lightly.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Shake the medium dark brown bottle after grabbing it.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Hold and shake the the brown bottle with red label carefully.", + "Use the left arm to grab the red-capped bottle and shake properly.", + "Shake the narrow-necked bottle after lifting it.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Lift the dark drink bottle with logo and shake it gently.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Hold the plastic drink bottle and shake it properly.", + "Grab the brown bottle with red label carefully and shake.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Hold the long thin bottle, shake it briefly.", + "Catch the medium dark brown bottle and shake it instantly.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Pick up the narrow-necked bottle and shake it.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Shake the long thin bottle using the left arm after grabbing.", + "Pick the smooth bottle with red lid, shake it with the left arm.", + "Use the left arm to pick and shake the bottle with white neck and red top.", + "Grab the medium dark brown bottle with the left arm and shake.", + "Using the left arm, shake the bottle with ridges on bottom and then place it back.", + "Secure the red-capped bottle and perform a shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Pick up the brown bottle with red label and shake it well.", + "Shake the narrow-necked bottle after grabbing it.", + "Use the left arm to grab the dark drink bottle with logo and shake it.", + "Lift the narrow-necked bottle with the left arm and shake it.", + "Grab the smooth bottle with red lid using the left arm, then shake.", + "Grab the bottle with white neck and red top and move it to shake.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Pick the red-capped bottle up with the left arm and shake." + ], + "unseen": [ + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode286.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode286.json new file mode 100644 index 0000000000000000000000000000000000000000..c706d0de54447f24840747258f8196f9c42ac6cb --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode286.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the long thin bottle firmly, shake it, and put it down.", + "With the right arm, pick the plastic drink bottle and shake properly.", + "Grab and shake the plastic drink bottle using the right arm.", + "Shake the the plastic drink bottle properly after lifting.", + "Shake the narrow-necked bottle after grabbing it.", + "Hold the long thin bottle, shake it briefly.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Shake the medium dark brown bottle after grabbing it.", + "Lift up the red-capped bottle using the right arm, then shake.", + "Lift the narrow-necked bottle with the right arm and shake.", + "Pick the dark drink bottle with logo up using the right arm and shake it.", + "Shake the dark drink bottle with logo using the right arm after grabbing.", + "Using the right arm, shake the bottle with ridges on bottom and then place it back.", + "Grab the narrow-necked bottle and shake it steadily.", + "Pick up the hand-sized soda bottle and shake it well.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Use the right arm to grab the long thin bottle and shake it.", + "Lift the medium dark brown bottle with the right arm and shake it.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Grab the long thin bottle and give it a shake.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Pick the Coca-Cola bottle up with the right arm and shake.", + "Lift the dark drink bottle with logo and shake it gently.", + "Shake the red-capped bottle after holding it firmly.", + "Take the red-capped bottle using the right arm and give it a shake.", + "Utilize the right arm to hold the narrow-necked bottle and shake it.", + "Use the right arm to grab the red-capped bottle and shake properly.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Pick up the smooth bottle with red lid and shake it.", + "Hold the medium dark brown bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Shake the smooth bottle with red lid after grabbing it.", + "Grasp the smooth bottle with red lid with the right arm and shake it.", + "Grip the Coca-Cola bottle using the right arm and shake.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Hold the narrow-necked bottle steady, then shake it.", + "Grab the long thin bottle carefully and shake.", + "Pick the red-capped bottle, shake it with the right arm.", + "Grab the smooth bottle with red lid using the right arm, then shake.", + "Hold the brown bottle with red label and shake it properly.", + "Grab the medium dark brown bottle and move it to shake.", + "Grab the narrow-necked bottle with the right arm and shake.", + "Shake the narrow-necked bottle after lifting it.", + "Secure the red-capped bottle and perform a shake.", + "Hold and shake the the narrow-necked bottle carefully.", + "Lift the red-capped bottle with the right arm and give it a shake.", + "Use the right arm to hold the narrow-necked bottle and shake it.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Use the right arm to pick and shake the Coca-Cola bottle.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "With the right arm, pick the hand-sized soda bottle and shake properly.", + "Grab and shake the bottle with ridges on bottom using the right arm.", + "Shake the the plastic drink bottle properly after lifting.", + "Shake the long thin bottle after grabbing it.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Shake the hand-sized soda bottle after grabbing it.", + "Lift up the plastic drink bottle using the right arm, then shake.", + "Lift the medium dark brown bottle with the right arm and shake.", + "Pick the bottle with ridges on bottom up using the right arm and shake it.", + "Shake the brown bottle with red label using the right arm after grabbing.", + "Using the right arm, shake the narrow-necked bottle and then place it back.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Pick up the Coca-Cola bottle and shake it well.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Use the right arm to grab the red-capped bottle and shake it.", + "Lift the plastic drink bottle with the right arm and shake it.", + "Shake the brown bottle with red label firmly after grabbing.", + "Grab the medium dark brown bottle and give it a shake.", + "Use the right arm to lift and shake the long thin bottle.", + "Pick the medium dark brown bottle up with the right arm and shake.", + "Lift the Coca-Cola bottle and shake it gently.", + "Shake the plastic drink bottle after holding it firmly.", + "Take the narrow-necked bottle using the right arm and give it a shake.", + "Utilize the right arm to hold the plastic drink bottle and shake it.", + "Use the right arm to grab the plastic drink bottle and shake properly.", + "Pick the long thin bottle and perform shaking motion.", + "Pick up the bottle with white neck and red top and shake it.", + "Hold the medium dark brown bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the long thin bottle.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grasp the bottle with ridges on bottom with the right arm and shake it.", + "Grip the smooth bottle with red lid using the right arm and shake.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Grab the smooth bottle with red lid carefully and shake.", + "Pick the medium dark brown bottle, shake it with the right arm.", + "Grab the medium dark brown bottle using the right arm, then shake.", + "Hold the plastic drink bottle and shake it properly.", + "Grab the red-capped bottle and move it to shake.", + "Grab the long thin bottle with the right arm and shake.", + "Shake the hand-sized soda bottle after lifting it.", + "Secure the hand-sized soda bottle and perform a shake.", + "Hold and shake the the narrow-necked bottle carefully.", + "Lift the brown bottle with red label with the right arm and give it a shake.", + "Use the right arm to hold the brown bottle with red label and shake it.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Use the right arm to pick and shake the narrow-necked bottle." + ], + "unseen": [ + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode287.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode287.json new file mode 100644 index 0000000000000000000000000000000000000000..d07871c79ce1b51a07809814239a7c1583f577a5 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode287.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the dark drink bottle with logo up using the left arm and shake it.", + "Grab the narrow-necked bottle and give it a shake.", + "Use the left arm to grab the dark drink bottle with logo and shake properly.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Grab the long thin bottle and move it to shake.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Lift the red-capped bottle and shake it gently.", + "Hold and shake the the brown bottle with red label carefully.", + "Pick up the narrow-necked bottle and shake it well.", + "Grab the Coca-Cola bottle using the left arm, then shake.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Lift the long thin bottle and shake it thoroughly.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Lift the plastic drink bottle with the left arm and give it a shake.", + "Lift the smooth bottle with red lid with the left arm and shake it.", + "Using the left arm, shake the smooth bottle with red lid and then place it back.", + "Shake the plastic drink bottle after grabbing it.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Pick up the bottle with ridges on bottom and shake it.", + "Use the left arm to pick and shake the plastic drink bottle.", + "Shake the hand-sized soda bottle after grabbing it.", + "Hold the brown bottle with red label with the left arm and shake lightly.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Shake the the plastic drink bottle properly after lifting.", + "Lift the brown bottle with red label with the left arm and shake.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "With the left arm, pick the bottle with white neck and red top and shake properly.", + "Grip the dark drink bottle with logo using the left arm and shake.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Secure the smooth bottle with red lid and perform a shake.", + "Shake the brown bottle with red label firmly after grabbing.", + "Use the left arm to hold the bottle with ridges on bottom and shake it.", + "Hold the smooth bottle with red lid and shake it properly.", + "Grab and shake the red-capped bottle using the left arm.", + "Grab the red-capped bottle carefully and shake.", + "Shake the smooth bottle with red lid after lifting it.", + "Grab the narrow-necked bottle and shake it steadily.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Grab the bottle with white neck and red top and give it a shake.", + "Use the left arm to grab the brown bottle with red label and shake properly.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Shake the plastic drink bottle after grabbing it.", + "Grab the smooth bottle with red lid and move it to shake.", + "Shake the medium dark brown bottle after holding it firmly.", + "Lift the plastic drink bottle and shake it gently.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Pick up the long thin bottle and shake it well.", + "Grab the bottle with white neck and red top using the left arm, then shake.", + "Grasp the medium dark brown bottle with the left arm and shake it.", + "Hold the plastic drink bottle, shake it briefly.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Pick the brown bottle with red label, shake it with the left arm.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Pick the bottle with white neck and red top up with the left arm and shake.", + "Hold the red-capped bottle steady, then shake it.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Shake the medium dark brown bottle after grabbing it.", + "Use the left arm to grab the plastic drink bottle and shake it.", + "Use the left arm to lift and shake the long thin bottle.", + "Pick up the bottle with ridges on bottom and shake it.", + "Use the left arm to pick and shake the narrow-necked bottle.", + "Shake the brown bottle with red label after grabbing it.", + "Hold the bottle with ridges on bottom with the left arm and shake lightly.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Shake the the narrow-necked bottle properly after lifting.", + "Lift the plastic drink bottle with the left arm and shake.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Pick the long thin bottle and perform shaking motion.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "Lift up the plastic drink bottle using the left arm, then shake.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Grip the medium dark brown bottle using the left arm and shake.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Secure the narrow-necked bottle and perform a shake.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Use the left arm to hold the bottle with ridges on bottom and shake it.", + "Hold the bottle with white neck and red top and shake it properly.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Grab the dark drink bottle with logo carefully and shake.", + "Shake the smooth bottle with red lid after lifting it.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Use the left arm to lift and shake the Coca-Cola bottle." + ], + "unseen": [ + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode288.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode288.json new file mode 100644 index 0000000000000000000000000000000000000000..4d7dcae68871374dc6e54bec0db66ae923e42d7b --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode288.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Lift the dark drink bottle with logo with the left arm and give it a shake.", + "Grab the Coca-Cola bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle with red label and shake it.", + "Pick the medium dark brown bottle up using the left arm and shake it.", + "Utilize the left arm to hold the brown bottle with red label and shake it.", + "Grab the smooth bottle with red lid carefully and shake.", + "With the left arm, pick the red-capped bottle and shake properly.", + "Grab and shake the red-capped bottle using the left arm.", + "Shake the narrow-necked bottle after lifting it.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Pick the plastic drink bottle up with the left arm and shake.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Catch the brown bottle with red label and shake it instantly.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Grab the long thin bottle and move it to shake.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Shake the Coca-Cola bottle after grabbing it.", + "Lift the dark drink bottle with logo and shake it gently.", + "Grab the smooth bottle with red lid and give it a shake.", + "Grasp the hand-sized soda bottle with the left arm and shake it.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Shake the plastic drink bottle firmly after grabbing.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Use the left arm to grab the brown bottle with red label and shake properly.", + "Use the left arm to hold the long thin bottle and shake it.", + "Shake the medium dark brown bottle after grabbing it.", + "Grab the red-capped bottle and shake it steadily.", + "Lift the bottle with ridges on bottom with the left arm and shake it.", + "Hold and shake the the plastic drink bottle carefully.", + "Grip the medium dark brown bottle using the left arm and shake.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Secure the Coca-Cola bottle and perform a shake.", + "Lift up the Coca-Cola bottle using the left arm, then shake.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Pick up the medium dark brown bottle and shake it.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Hold the medium dark brown bottle, shake it briefly.", + "Hold the medium dark brown bottle steady, then shake it.", + "Grab the red-capped bottle using the left arm, then shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Hold the plastic drink bottle and shake it properly.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Pick up the plastic drink bottle and shake it well.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Grab the red-capped bottle with the left arm and shake.", + "Use the left arm to grab the smooth bottle with red lid and shake it.", + "Pick the medium dark brown bottle up using the left arm and shake it.", + "Utilize the left arm to hold the bottle with white neck and red top and shake it.", + "Grab the smooth bottle with red lid carefully and shake.", + "With the left arm, pick the brown bottle with red label and shake properly.", + "Grab and shake the red-capped bottle using the left arm.", + "Shake the plastic drink bottle after lifting it.", + "Take the medium dark brown bottle using the left arm and give it a shake.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Lift the long thin bottle with the left arm and shake.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Pick the long thin bottle and perform shaking motion.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Grab the smooth bottle with red lid and move it to shake.", + "Using the left arm, shake the narrow-necked bottle and then place it back.", + "Shake the long thin bottle after grabbing it.", + "Lift the medium dark brown bottle and shake it gently.", + "Grab the Coca-Cola bottle and give it a shake.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Pick the dark drink bottle with logo, shake it with the left arm.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Use the left arm to grab the bottle with ridges on bottom and shake properly.", + "Use the left arm to hold the bottle with ridges on bottom and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grab the long thin bottle and shake it steadily.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "Hold and shake the the brown bottle with red label carefully.", + "Grip the bottle with ridges on bottom using the left arm and shake.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Secure the plastic drink bottle and perform a shake.", + "Lift up the dark drink bottle with logo using the left arm, then shake.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Pick up the medium dark brown bottle and shake it.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Hold the red-capped bottle, shake it briefly.", + "Hold the plastic drink bottle steady, then shake it.", + "Grab the Coca-Cola bottle using the left arm, then shake.", + "Shake the plastic drink bottle after grabbing it.", + "Hold the dark drink bottle with logo and shake it properly.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Use the left arm to pick and shake the red-capped bottle." + ], + "unseen": [ + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the brown bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode289.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode289.json new file mode 100644 index 0000000000000000000000000000000000000000..97091d015c96de29ad1ddebda567d06535cc7d8d --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode289.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Shake the long thin bottle after grabbing it.", + "Hold the red-capped bottle, shake it briefly.", + "Lift the dark drink bottle with logo and shake it gently.", + "Grab the long thin bottle carefully and shake.", + "Pick the long thin bottle up with the right arm and shake.", + "Hold the Coca-Cola bottle with the right arm and shake lightly.", + "With the right arm, pick the brown bottle with red label and shake properly.", + "Secure the red-capped bottle, shake it, and place it down.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Lift the brown bottle with red label with the right arm and give it a shake.", + "Use the right arm to grab the dark drink bottle with logo and shake it.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Lift up the long thin bottle using the right arm, then shake.", + "Grab and shake the bottle with white neck and red top using the right arm.", + "Hold the hand-sized soda bottle and shake it properly.", + "Lift the smooth bottle with red lid with the right arm and shake it.", + "Shake the plastic drink bottle after lifting it.", + "Grab the medium dark brown bottle and move it to shake.", + "Lift the long thin bottle and shake it thoroughly.", + "Utilize the right arm to hold the red-capped bottle and shake it.", + "Grab the Coca-Cola bottle and give it a shake.", + "Pick up the bottle with white neck and red top and shake it.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Use the right arm to grab the plastic drink bottle and shake properly.", + "Use the right arm to pick and shake the Coca-Cola bottle.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Pick the bottle with ridges on bottom, shake it with the right arm.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Take the narrow-necked bottle using the right arm and give it a shake.", + "Shake the long thin bottle using the right arm after grabbing.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Hold the brown bottle with red label steady, then shake it.", + "Pick up the narrow-necked bottle and shake it well.", + "Use the right arm to hold the narrow-necked bottle and shake it.", + "Catch the brown bottle with red label and shake it instantly.", + "Grab the bottle with white neck and red top with the right arm and shake.", + "Using the right arm, shake the dark drink bottle with logo and then place it back.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Lift the hand-sized soda bottle with the right arm and shake.", + "Pick the bottle with ridges on bottom up using the right arm and shake it.", + "Pick the red-capped bottle and perform shaking motion.", + "Grasp the hand-sized soda bottle with the right arm and shake it.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Secure the red-capped bottle and perform a shake.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Grab the Coca-Cola bottle using the right arm, then shake.", + "Shake the long thin bottle after grabbing it.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Shake the plastic drink bottle after grabbing it.", + "Hold the narrow-necked bottle, shake it briefly.", + "Lift the plastic drink bottle and shake it gently.", + "Grab the long thin bottle carefully and shake.", + "Pick the hand-sized soda bottle up with the right arm and shake.", + "Hold the bottle with white neck and red top with the right arm and shake lightly.", + "With the right arm, pick the hand-sized soda bottle and shake properly.", + "Secure the long thin bottle, shake it, and place it down.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Lift the smooth bottle with red lid with the right arm and give it a shake.", + "Use the right arm to grab the bottle with white neck and red top and shake it.", + "Shake the medium dark brown bottle after holding it firmly.", + "Shake the dark drink bottle with logo after grabbing it.", + "Lift up the medium dark brown bottle using the right arm, then shake.", + "Grab and shake the bottle with white neck and red top using the right arm.", + "Hold the red-capped bottle and shake it properly.", + "Lift the dark drink bottle with logo with the right arm and shake it.", + "Shake the bottle with white neck and red top after lifting it.", + "Grab the hand-sized soda bottle and move it to shake.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Utilize the right arm to hold the plastic drink bottle and shake it.", + "Grab the hand-sized soda bottle and give it a shake.", + "Pick up the Coca-Cola bottle and shake it.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Use the right arm to grab the plastic drink bottle and shake properly.", + "Use the right arm to pick and shake the bottle with white neck and red top.", + "Use the right arm to lift and shake the red-capped bottle.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Grip the dark drink bottle with logo using the right arm and shake.", + "Take the smooth bottle with red lid using the right arm and give it a shake.", + "Shake the smooth bottle with red lid using the right arm after grabbing.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Use the right arm to hold the long thin bottle and shake it.", + "Catch the brown bottle with red label and shake it instantly.", + "Grab the smooth bottle with red lid with the right arm and shake.", + "Using the right arm, shake the red-capped bottle and then place it back.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Lift the bottle with ridges on bottom with the right arm and shake.", + "Pick the narrow-necked bottle up using the right arm and shake it.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Grasp the smooth bottle with red lid with the right arm and shake it.", + "Use the right arm to lift and shake the red-capped bottle.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Grab the dark drink bottle with logo using the right arm, then shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Use the right arm to lift and shake the brown bottle with red label." + ], + "unseen": [ + "Use the right arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode29.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..ed4a59cb5600f471144f2383809b76864d1a5ed4 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Pick up the plastic drink bottle and shake it well.", + "Secure the long thin bottle, shake it, and place it down.", + "Utilize the left arm to hold the brown bottle with red label and shake it.", + "Lift up the hand-sized soda bottle using the left arm, then shake.", + "Grab the hand-sized soda bottle using the left arm, then shake.", + "Shake the bottle with white neck and red top after grabbing it.", + "Hold the medium dark brown bottle, shake it briefly.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Pick up the brown bottle with red label and shake it.", + "Lift the narrow-necked bottle with the left arm and give it a shake.", + "Grab the red-capped bottle carefully and shake.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Grab and shake the red-capped bottle using the left arm.", + "Shake the hand-sized soda bottle after lifting it.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Secure the narrow-necked bottle and perform a shake.", + "Pick the dark drink bottle with logo up with the left arm and shake.", + "Shake the bottle with white neck and red top after holding it firmly.", + "With the left arm, pick the long thin bottle and shake properly.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Grasp the bottle with ridges on bottom with the left arm and shake it.", + "Lift the dark drink bottle with logo and shake it gently.", + "Using the left arm, shake the long thin bottle and then place it back.", + "Lift the Coca-Cola bottle with the left arm and shake it.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Hold the red-capped bottle steady, then shake it.", + "Use the left arm to grab the plastic drink bottle and shake properly.", + "Grab the red-capped bottle and move it to shake.", + "Grip the plastic drink bottle using the left arm and shake.", + "Shake the the narrow-necked bottle properly after lifting.", + "Use the left arm to pick and shake the Coca-Cola bottle.", + "Shake the narrow-necked bottle after grabbing it.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Shake the plastic drink bottle after grabbing it.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Take the long thin bottle using the left arm and give it a shake.", + "Lift the bottle with ridges on bottom with the left arm and shake.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Pick the red-capped bottle, shake it with the left arm.", + "Use the left arm to hold the bottle with white neck and red top and shake it.", + "Hold the brown bottle with red label and shake it properly.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "Pick up the red-capped bottle and shake it well.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Grab the bottle with white neck and red top using the left arm, then shake.", + "Shake the red-capped bottle after grabbing it.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Use the left arm to lift and shake the long thin bottle.", + "Grab the plastic drink bottle and shake it steadily.", + "Pick up the dark drink bottle with logo and shake it.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Pick the long thin bottle and perform shaking motion.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Grab and shake the medium dark brown bottle using the left arm.", + "Shake the dark drink bottle with logo after lifting it.", + "Grab the Coca-Cola bottle with the left arm and shake.", + "Secure the hand-sized soda bottle and perform a shake.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "Shake the narrow-necked bottle after holding it firmly.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Use the left arm to lift and shake the red-capped bottle.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Lift the dark drink bottle with logo and shake it gently.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "Lift the Coca-Cola bottle with the left arm and shake it.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Hold the brown bottle with red label steady, then shake it.", + "Use the left arm to grab the medium dark brown bottle and shake properly.", + "Grab the dark drink bottle with logo and move it to shake.", + "Grip the bottle with ridges on bottom using the left arm and shake.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Use the left arm to pick and shake the hand-sized soda bottle.", + "Shake the plastic drink bottle after grabbing it.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Shake the plastic drink bottle firmly after grabbing.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Take the bottle with white neck and red top using the left arm and give it a shake.", + "Lift the brown bottle with red label with the left arm and shake.", + "Grab the narrow-necked bottle and give it a shake.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Use the left arm to hold the medium dark brown bottle and shake it.", + "Hold the bottle with white neck and red top and shake it properly.", + "Use the left arm to grab the narrow-necked bottle and shake it." + ], + "unseen": [ + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the plastic soda bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode290.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode290.json new file mode 100644 index 0000000000000000000000000000000000000000..254e997a4f6710613898b135170394db45f084c6 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode290.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth bottle with red lid with the left arm and give it a shake.", + "Hold the brown bottle with red label with the left arm and shake lightly.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Grab the smooth bottle with red lid and give it a shake.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Shake the bottle with white neck and red top after grabbing it.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Use the left arm to pick and shake the narrow-necked bottle.", + "Lift up the red-capped bottle using the left arm, then shake.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Pick up the medium dark brown bottle and shake it.", + "Shake the smooth bottle with red lid after grabbing it.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Shake the long thin bottle firmly after grabbing.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Grab the bottle with white neck and red top carefully and shake.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Utilize the left arm to hold the Coca-Cola bottle and shake it.", + "Hold the dark drink bottle with logo and shake it properly.", + "Grab the red-capped bottle using the left arm, then shake.", + "Use the left arm to grab the brown bottle with red label and shake properly.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Lift the red-capped bottle and shake it gently.", + "Grab the bottle with white neck and red top and move it to shake.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Grab and shake the medium dark brown bottle using the left arm.", + "Grip the medium dark brown bottle using the left arm and shake.", + "Hold and shake the the plastic drink bottle carefully.", + "Pick the hand-sized soda bottle up with the left arm and shake.", + "Hold the plastic drink bottle, shake it briefly.", + "Lift the Coca-Cola bottle with the left arm and shake.", + "Pick the hand-sized soda bottle, shake it with the left arm.", + "Shake the brown bottle with red label after holding it firmly.", + "Use the left arm to lift and shake the long thin bottle.", + "Shake the red-capped bottle using the left arm after grabbing.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Grab the long thin bottle with the left arm and shake.", + "Using the left arm, shake the dark drink bottle with logo and then place it back.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Shake the brown bottle with red label after lifting it.", + "Pick up the narrow-necked bottle and shake it well.", + "Lift the plastic drink bottle with the left arm and give it a shake.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Grab the medium dark brown bottle and give it a shake.", + "Hold the long thin bottle steady, then shake it.", + "Shake the long thin bottle after grabbing it.", + "Secure the hand-sized soda bottle and perform a shake.", + "Shake the plastic drink bottle after grabbing it.", + "Shake the the red-capped bottle properly after lifting.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Lift up the hand-sized soda bottle using the left arm, then shake.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Pick up the Coca-Cola bottle and shake it.", + "Shake the narrow-necked bottle after grabbing it.", + "Use the left arm to lift and shake the red-capped bottle.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Grasp the smooth bottle with red lid with the left arm and shake it.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Use the left arm to grab the hand-sized soda bottle and shake it.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Use the left arm to hold the narrow-necked bottle and shake it.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Utilize the left arm to hold the dark drink bottle with logo and shake it.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Grab the medium dark brown bottle using the left arm, then shake.", + "Use the left arm to grab the long thin bottle and shake properly.", + "Lift the red-capped bottle with the left arm and shake it.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Lift the narrow-necked bottle and shake it gently.", + "Grab the long thin bottle and move it to shake.", + "With the left arm, pick the brown bottle with red label and shake properly.", + "Grab and shake the brown bottle with red label using the left arm.", + "Grip the dark drink bottle with logo using the left arm and shake.", + "Hold and shake the the medium dark brown bottle carefully.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Lift the smooth bottle with red lid with the left arm and shake.", + "Pick the hand-sized soda bottle, shake it with the left arm.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Grab the medium dark brown bottle with the left arm and shake.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Shake the hand-sized soda bottle after lifting it.", + "Pick up the long thin bottle and shake it well." + ], + "unseen": [ + "Grab the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode291.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode291.json new file mode 100644 index 0000000000000000000000000000000000000000..7af34704fed59a28a5a83cee3544c1e41203a8a8 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode291.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Utilize the right arm to hold the medium green bottle with capped neck and shake it.", + "Pick the green bottle with indented base, shake it with the right arm.", + "Hold the green bottle with indented base, shake it briefly.", + "Grab the handheld green bottle and move it to shake.", + "Catch the handheld green bottle and shake it instantly.", + "Use the right arm to grab the handheld green bottle and shake properly.", + "Take the smooth green bottle using the right arm and give it a shake.", + "Pick up the handheld green bottle and shake it well.", + "Grip the smooth green bottle using the right arm and shake.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Using the right arm, shake the medium green bottle and then place it back.", + "Grab and shake the bottle with ridges near base using the right arm.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Secure the plastic bottle, shake it, and place it down.", + "Shake the bottle with white printed label after grabbing it.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Grasp the handheld green bottle with the right arm and shake it.", + "Hold the bottle with ridges near base with the right arm and shake lightly.", + "Use the right arm to pick and shake the smooth green plastic bottle.", + "Use the right arm to grab the bottle with rounded neck and shake it.", + "With the right arm, pick the handheld green bottle and shake properly.", + "Pick the bottle with white printed label up using the right arm and shake it.", + "Lift the plastic bottle with the right arm and shake it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grab the smooth green plastic bottle and give it a shake.", + "Shake the bottle with rounded neck after grabbing it.", + "Hold the green bottle with indented base and shake it properly.", + "Shake the the green bottle with indented base properly after lifting.", + "Lift up the medium-sized green bottle using the right arm, then shake.", + "Grab the plastic bottle using the right arm, then shake.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Pick up the bottle with rounded neck and shake it.", + "Secure the bottle with ridges near base and perform a shake.", + "Hold and shake the the smooth green bottle carefully.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Use the right arm to hold the bottle with white printed label and shake it.", + "Lift the handheld green bottle with the right arm and shake.", + "Shake the bottle with white printed label using the right arm after grabbing.", + "Lift the bottle with ridges near base with the right arm and give it a shake.", + "Grab the plastic bottle and shake it steadily.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Grab the smooth green bottle carefully and shake.", + "Shake the medium-sized green bottle after lifting it.", + "Shake the medium green bottle with capped neck after holding it firmly.", + "Grab the bottle with ridges near base with the right arm and shake.", + "Pick the smooth green bottle up with the right arm and shake.", + "Lift the medium-sized green bottle and shake it gently.", + "Hold the plastic bottle steady, then shake it.", + "Utilize the right arm to hold the bottle with ridges near base and shake it.", + "Pick the medium green bottle, shake it with the right arm.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Grab the green bottle with indented base and move it to shake.", + "Catch the plastic bottle and shake it instantly.", + "Use the right arm to grab the medium green bottle with capped neck and shake properly.", + "Take the bottle with ridges near base using the right arm and give it a shake.", + "Pick up the smooth green plastic bottle and shake it well.", + "Grip the bottle with rounded neck using the right arm and shake.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Using the right arm, shake the medium-sized green bottle and then place it back.", + "Grab and shake the bottle with rounded neck using the right arm.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Shake the bottle with narrow top after grabbing it.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Grasp the bottle with rounded neck with the right arm and shake it.", + "Hold the bottle with ridges near base with the right arm and shake lightly.", + "Use the right arm to pick and shake the green bottle with indented base.", + "Use the right arm to grab the medium-sized green bottle and shake it.", + "With the right arm, pick the smooth green plastic bottle and shake properly.", + "Pick the bottle with narrow top up using the right arm and shake it.", + "Lift the handheld green bottle with the right arm and shake it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Grab the handheld green bottle and give it a shake.", + "Shake the green bottle with indented base after grabbing it.", + "Hold the plastic bottle and shake it properly.", + "Shake the the bottle with rounded neck properly after lifting.", + "Lift up the bottle with narrow top using the right arm, then shake.", + "Grab the medium green bottle using the right arm, then shake.", + "Use the right arm to lift and shake the smooth green bottle.", + "Pick up the bottle with ridges near base and shake it.", + "Secure the handheld green bottle and perform a shake.", + "Hold and shake the the medium green bottle carefully.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Grab the green bottle with indented base firmly, shake it, and put it down.", + "Use the right arm to hold the bottle with white printed label and shake it.", + "Lift the bottle with narrow top with the right arm and shake.", + "Shake the medium-sized green bottle using the right arm after grabbing.", + "Lift the smooth green plastic bottle with the right arm and give it a shake.", + "Grab the medium green bottle with capped neck and shake it steadily.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Shake the smooth green plastic bottle after lifting it.", + "Shake the medium-sized green bottle after holding it firmly.", + "Grab the smooth green bottle with the right arm and shake.", + "Pick the medium green bottle with capped neck up with the right arm and shake.", + "Lift the medium-sized green bottle and shake it gently.", + "Hold the green bottle with indented base steady, then shake it." + ], + "unseen": [ + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode292.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode292.json new file mode 100644 index 0000000000000000000000000000000000000000..baba79096eb84519a861605ad811f48894846c6c --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode292.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Shake the bottle with ridges on bottom after lifting it.", + "Take the long thin bottle using the left arm and give it a shake.", + "Pick up the medium dark brown bottle and shake it.", + "Grasp the bottle with ridges on bottom with the left arm and shake it.", + "Hold the long thin bottle, shake it briefly.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Grab the dark drink bottle with logo and give it a shake.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Use the left arm to hold the dark drink bottle with logo and shake it.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "Hold and shake the the plastic drink bottle carefully.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Pick up the brown bottle with red label and shake it well.", + "Pick the bottle with white neck and red top up using the left arm and shake it.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Grab the long thin bottle carefully and shake.", + "Use the left arm to grab the bottle with ridges on bottom and shake it.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Lift the Coca-Cola bottle and shake it gently.", + "Catch the narrow-necked bottle and shake it instantly.", + "Hold the plastic drink bottle steady, then shake it.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Lift the smooth bottle with red lid with the left arm and shake it.", + "Secure the long thin bottle and perform a shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Grab the narrow-necked bottle and shake it steadily.", + "Using the left arm, shake the red-capped bottle and then place it back.", + "Pick the long thin bottle up with the left arm and shake.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Shake the hand-sized soda bottle after grabbing it.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Shake the plastic drink bottle after grabbing it.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Lift the bottle with white neck and red top with the left arm and shake.", + "Grab the medium dark brown bottle using the left arm, then shake.", + "Hold the dark drink bottle with logo and shake it properly.", + "Use the left arm to grab the red-capped bottle and shake properly.", + "Lift up the plastic drink bottle using the left arm, then shake.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Shake the plastic drink bottle after lifting it.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Pick up the bottle with white neck and red top and shake it.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Grab the plastic drink bottle and give it a shake.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Shake the narrow-necked bottle after holding it firmly.", + "Grab and shake the dark drink bottle with logo using the left arm.", + "Use the left arm to hold the smooth bottle with red lid and shake it.", + "Grab the red-capped bottle and move it to shake.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Hold and shake the the medium dark brown bottle carefully.", + "Grip the long thin bottle using the left arm and shake.", + "Pick up the red-capped bottle and shake it well.", + "Pick the medium dark brown bottle up using the left arm and shake it.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Grab the narrow-necked bottle carefully and shake.", + "Use the left arm to grab the brown bottle with red label and shake it.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Lift the plastic drink bottle and shake it gently.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Shake the smooth bottle with red lid using the left arm after grabbing.", + "Hold the brown bottle with red label with the left arm and shake lightly.", + "Lift the plastic drink bottle with the left arm and shake it.", + "Secure the smooth bottle with red lid and perform a shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "Pick the hand-sized soda bottle up with the left arm and shake.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Shake the plastic drink bottle after grabbing it.", + "Pick the dark drink bottle with logo, shake it with the left arm.", + "Shake the hand-sized soda bottle after grabbing it.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Lift the dark drink bottle with logo with the left arm and give it a shake.", + "Shake the brown bottle with red label firmly after grabbing.", + "Pick the brown bottle with red label and perform shaking motion.", + "Lift the Coca-Cola bottle with the left arm and shake.", + "Grab the dark drink bottle with logo using the left arm, then shake.", + "Hold the hand-sized soda bottle and shake it properly.", + "Use the left arm to grab the hand-sized soda bottle and shake properly.", + "Lift up the bottle with white neck and red top using the left arm, then shake." + ], + "unseen": [ + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode293.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode293.json new file mode 100644 index 0000000000000000000000000000000000000000..cf7bdbeabc1b82289d3448ee063c295515dc9c58 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode293.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Pick the smooth bottle with red lid, shake it with the left arm.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Secure the red-capped bottle, shake it, and place it down.", + "Lift the bottle with ridges on bottom with the left arm and give it a shake.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Grab and shake the dark drink bottle with logo using the left arm.", + "Lift up the dark drink bottle with logo using the left arm, then shake.", + "Secure the brown bottle with red label and perform a shake.", + "Grab the plastic drink bottle carefully and shake.", + "Pick up the long thin bottle and shake it well.", + "Grab the smooth bottle with red lid and give it a shake.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Hold the plastic drink bottle steady, then shake it.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Grab the red-capped bottle using the left arm, then shake.", + "Pick the hand-sized soda bottle up using the left arm and shake it.", + "Grab the dark drink bottle with logo and move it to shake.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Use the left arm to hold the Coca-Cola bottle and shake it.", + "Hold the red-capped bottle with the left arm and shake lightly.", + "Hold the smooth bottle with red lid and shake it properly.", + "Use the left arm to grab the long thin bottle and shake it.", + "Shake the red-capped bottle after grabbing it.", + "Use the left arm to pick and shake the red-capped bottle.", + "Hold the brown bottle with red label, shake it briefly.", + "Pick up the narrow-necked bottle and shake it.", + "Catch the medium dark brown bottle and shake it instantly.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Grasp the hand-sized soda bottle with the left arm and shake it.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Utilize the left arm to hold the hand-sized soda bottle and shake it.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Grab the red-capped bottle with the left arm and shake.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Shake the narrow-necked bottle after lifting it.", + "With the left arm, pick the plastic drink bottle and shake properly.", + "Lift the plastic drink bottle and shake it gently.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Lift the narrow-necked bottle with the left arm and shake.", + "Lift the long thin bottle with the left arm and shake it.", + "Use the left arm to grab the dark drink bottle with logo and shake properly.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Pick the long thin bottle, shake it with the left arm.", + "Shake the brown bottle with red label after holding it firmly.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Lift the plastic drink bottle with the left arm and give it a shake.", + "Using the left arm, shake the smooth bottle with red lid and then place it back.", + "Grip the medium dark brown bottle using the left arm and shake.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Secure the brown bottle with red label and perform a shake.", + "Grab the narrow-necked bottle carefully and shake.", + "Pick up the hand-sized soda bottle and shake it well.", + "Grab the long thin bottle and give it a shake.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Hold the long thin bottle steady, then shake it.", + "Take the medium dark brown bottle using the left arm and give it a shake.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Grab the smooth bottle with red lid using the left arm, then shake.", + "Pick the medium dark brown bottle up using the left arm and shake it.", + "Grab the red-capped bottle and move it to shake.", + "Grab the narrow-necked bottle and shake it steadily.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Hold the hand-sized soda bottle and shake it properly.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Shake the medium dark brown bottle after grabbing it.", + "Use the left arm to pick and shake the medium dark brown bottle.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Pick up the bottle with ridges on bottom and shake it.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "Shake the dark drink bottle with logo after grabbing it.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Grasp the bottle with white neck and red top with the left arm and shake it.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Pick the bottle with white neck and red top up with the left arm and shake.", + "Grab the brown bottle with red label with the left arm and shake.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Shake the medium dark brown bottle after lifting it.", + "With the left arm, pick the smooth bottle with red lid and shake properly.", + "Lift the bottle with white neck and red top and shake it gently.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Shake the plastic drink bottle after grabbing it.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Lift the Coca-Cola bottle with the left arm and shake.", + "Lift the narrow-necked bottle with the left arm and shake it." + ], + "unseen": [ + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the brown bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode294.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode294.json new file mode 100644 index 0000000000000000000000000000000000000000..1c224c1500a5860da6e113160aa3c00f7ae86224 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode294.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the dark drink bottle with logo and shake it instantly.", + "Pick the hand-sized soda bottle up with the right arm and shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Shake the dark drink bottle with logo after grabbing it.", + "Lift the red-capped bottle with the right arm and give it a shake.", + "Using the right arm, shake the smooth bottle with red lid and then place it back.", + "Grasp the dark drink bottle with logo with the right arm and shake it.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Shake the smooth bottle with red lid using the right arm after grabbing.", + "Pick up the plastic drink bottle and shake it.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Grab and shake the red-capped bottle using the right arm.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Pick the narrow-necked bottle up using the right arm and shake it.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Grab the long thin bottle with the right arm and shake.", + "Grip the medium dark brown bottle using the right arm and shake.", + "Pick up the dark drink bottle with logo and shake it well.", + "Shake the dark drink bottle with logo after lifting it.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Secure the long thin bottle and perform a shake.", + "Grab the hand-sized soda bottle and give it a shake.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Use the right arm to pick and shake the red-capped bottle.", + "Hold the narrow-necked bottle steady, then shake it.", + "Grab the dark drink bottle with logo and move it to shake.", + "Use the right arm to hold the red-capped bottle and shake it.", + "Grab the long thin bottle carefully and shake.", + "Hold the hand-sized soda bottle with the right arm and shake lightly.", + "Grab the narrow-necked bottle and shake it steadily.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Grab the red-capped bottle using the right arm, then shake.", + "Lift the long thin bottle and shake it gently.", + "Pick the long thin bottle, shake it with the right arm.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Lift up the bottle with white neck and red top using the right arm, then shake.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Lift the brown bottle with red label with the right arm and shake.", + "Use the right arm to grab the red-capped bottle and shake it.", + "Lift the dark drink bottle with logo with the right arm and shake it.", + "Take the red-capped bottle using the right arm and give it a shake.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Hold the Coca-Cola bottle and shake it properly.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the right arm to grab the brown bottle with red label and shake properly.", + "Catch the plastic drink bottle and shake it instantly.", + "Pick the plastic drink bottle up with the right arm and shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Shake the narrow-necked bottle after grabbing it.", + "Lift the dark drink bottle with logo with the right arm and give it a shake.", + "Using the right arm, shake the bottle with white neck and red top and then place it back.", + "Grasp the bottle with ridges on bottom with the right arm and shake it.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Shake the medium dark brown bottle using the right arm after grabbing.", + "Pick up the brown bottle with red label and shake it.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Grab and shake the narrow-necked bottle using the right arm.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Pick the long thin bottle up using the right arm and shake it.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Grab the hand-sized soda bottle with the right arm and shake.", + "Grip the long thin bottle using the right arm and shake.", + "Pick up the narrow-necked bottle and shake it well.", + "Shake the bottle with white neck and red top after lifting it.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Secure the hand-sized soda bottle and perform a shake.", + "Grab the dark drink bottle with logo and give it a shake.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Use the right arm to pick and shake the red-capped bottle.", + "Hold the red-capped bottle steady, then shake it.", + "Grab the long thin bottle and move it to shake.", + "Use the right arm to hold the bottle with white neck and red top and shake it.", + "Grab the dark drink bottle with logo carefully and shake.", + "Hold the dark drink bottle with logo with the right arm and shake lightly.", + "Grab the plastic drink bottle and shake it steadily.", + "With the right arm, pick the plastic drink bottle and shake properly.", + "Grab the plastic drink bottle using the right arm, then shake.", + "Lift the plastic drink bottle and shake it gently.", + "Pick the smooth bottle with red lid, shake it with the right arm.", + "Hold the plastic drink bottle, shake it briefly.", + "Hold and shake the the plastic drink bottle carefully.", + "Lift up the bottle with white neck and red top using the right arm, then shake.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Utilize the right arm to hold the narrow-necked bottle and shake it.", + "Lift the bottle with ridges on bottom with the right arm and shake.", + "Use the right arm to grab the long thin bottle and shake it.", + "Lift the dark drink bottle with logo with the right arm and shake it.", + "Take the smooth bottle with red lid using the right arm and give it a shake.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Hold the bottle with white neck and red top and shake it properly.", + "Shake the plastic drink bottle after grabbing it.", + "Use the right arm to grab the red-capped bottle and shake properly." + ], + "unseen": [ + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode295.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode295.json new file mode 100644 index 0000000000000000000000000000000000000000..cdef895ebcb64105dd074f3a921ed49306c4e014 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode295.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the bottle with narrow top using the left arm and give it a shake.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Lift the green bottle with indented base with the left arm and shake it.", + "Catch the medium-sized green bottle and shake it instantly.", + "Grab the smooth green plastic bottle and give it a shake.", + "Shake the handheld green bottle after grabbing it.", + "Grab the green bottle with indented base and shake it steadily.", + "Lift the bottle with ridges near base with the left arm and shake.", + "Lift up the bottle with rounded neck using the left arm, then shake.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Pick up the green bottle with indented base and shake it well.", + "Grab the medium green bottle with capped neck with the left arm and shake.", + "Secure the smooth green bottle and perform a shake.", + "Grab the bottle with ridges near base using the left arm, then shake.", + "Use the left arm to lift and shake the medium green bottle.", + "With the left arm, pick the medium green bottle and shake properly.", + "Lift the bottle with white printed label and shake it gently.", + "Hold the smooth green bottle, shake it briefly.", + "Pick the bottle with ridges near base up with the left arm and shake.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Use the left arm to lift and shake the smooth green bottle.", + "Shake the smooth green bottle after lifting it.", + "Shake the bottle with white printed label firmly after grabbing.", + "Grab and shake the medium green bottle with capped neck using the left arm.", + "Grab the green bottle with indented base and move it to shake.", + "Hold the plastic bottle and shake it properly.", + "Hold the handheld green bottle with the left arm and shake lightly.", + "Use the left arm to hold the bottle with narrow top and shake it.", + "Grasp the medium green bottle with capped neck with the left arm and shake it.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Shake the green bottle with indented base after holding it firmly.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Grip the smooth green bottle using the left arm and shake.", + "Hold the handheld green bottle steady, then shake it.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Pick the bottle with white printed label up using the left arm and shake it.", + "Use the left arm to grab the medium green bottle and shake properly.", + "Use the left arm to grab the medium-sized green bottle and shake it.", + "Pick the smooth green bottle, shake it with the left arm.", + "Shake the medium-sized green bottle using the left arm after grabbing.", + "Shake the the medium green bottle properly after lifting.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to pick and shake the plastic bottle.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Shake the bottle with rounded neck after grabbing it.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Grab the bottle with narrow top carefully and shake.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Pick up the bottle with narrow top and shake it.", + "Take the bottle with white printed label using the left arm and give it a shake.", + "Pick the green bottle with indented base and perform shaking motion.", + "Lift the smooth green plastic bottle with the left arm and shake it.", + "Catch the plastic bottle and shake it instantly.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grab the medium green bottle with capped neck and shake it steadily.", + "Lift the smooth green plastic bottle with the left arm and shake.", + "Lift up the smooth green bottle using the left arm, then shake.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Pick up the bottle with rounded neck and shake it well.", + "Grab the green bottle with indented base with the left arm and shake.", + "Secure the smooth green bottle and perform a shake.", + "Grab the medium-sized green bottle using the left arm, then shake.", + "Use the left arm to lift and shake the medium green bottle.", + "With the left arm, pick the smooth green plastic bottle and shake properly.", + "Lift the smooth green plastic bottle and shake it gently.", + "Hold the handheld green bottle, shake it briefly.", + "Pick the bottle with white printed label up with the left arm and shake.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Shake the smooth green bottle after lifting it.", + "Shake the smooth green bottle firmly after grabbing.", + "Grab and shake the green bottle with indented base using the left arm.", + "Grab the plastic bottle and move it to shake.", + "Hold the bottle with rounded neck and shake it properly.", + "Hold the green bottle with indented base with the left arm and shake lightly.", + "Use the left arm to hold the medium green bottle with capped neck and shake it.", + "Grasp the handheld green bottle with the left arm and shake it.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Shake the medium-sized green bottle after holding it firmly.", + "Lift the green bottle with indented base with the left arm and give it a shake.", + "Grip the bottle with white printed label using the left arm and shake.", + "Hold the smooth green bottle steady, then shake it.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Pick the smooth green bottle up using the left arm and shake it.", + "Use the left arm to grab the bottle with ridges near base and shake properly.", + "Use the left arm to grab the medium-sized green bottle and shake it.", + "Pick the medium-sized green bottle, shake it with the left arm.", + "Shake the bottle with white printed label using the left arm after grabbing.", + "Shake the the plastic bottle properly after lifting.", + "Shake the plastic bottle after grabbing it.", + "Use the left arm to pick and shake the medium green bottle.", + "Using the left arm, shake the smooth green bottle and then place it back.", + "Shake the bottle with white printed label after grabbing it.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Grab the medium green bottle carefully and shake.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Hold and shake the the handheld green bottle carefully.", + "Pick up the medium green bottle with capped neck and shake it." + ], + "unseen": [ + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode296.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode296.json new file mode 100644 index 0000000000000000000000000000000000000000..ad81712b5ee7b259477c261de3c87a2d70965082 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode296.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the hand-sized soda bottle using the left arm and give it a shake.", + "Grab the red-capped bottle with the left arm and shake.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Grab the narrow-necked bottle and move it to shake.", + "Shake the red-capped bottle firmly after grabbing.", + "Grab the dark drink bottle with logo using the left arm, then shake.", + "Shake the narrow-necked bottle after lifting it.", + "Hold the red-capped bottle and shake it properly.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Shake the narrow-necked bottle after grabbing it.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Pick up the narrow-necked bottle and shake it.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Hold the long thin bottle, shake it briefly.", + "Lift the red-capped bottle and shake it gently.", + "Grab the bottle with white neck and red top and give it a shake.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Pick up the plastic drink bottle and shake it well.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Use the left arm to grab the dark drink bottle with logo and shake it.", + "Pick the narrow-necked bottle up with the left arm and shake.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Grab the long thin bottle and shake it steadily.", + "Lift the brown bottle with red label with the left arm and give it a shake.", + "Using the left arm, shake the red-capped bottle and then place it back.", + "Hold the narrow-necked bottle steady, then shake it.", + "Use the left arm to lift and shake the red-capped bottle.", + "Lift the narrow-necked bottle with the left arm and shake.", + "Grip the medium dark brown bottle using the left arm and shake.", + "Lift the Coca-Cola bottle with the left arm and shake it.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Grab the plastic drink bottle carefully and shake.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Shake the narrow-necked bottle after grabbing it.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Shake the bottle with white neck and red top using the left arm after grabbing.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Secure the narrow-necked bottle and perform a shake.", + "Use the left arm to hold the medium dark brown bottle and shake it.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Use the left arm to pick and shake the Coca-Cola bottle.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Pick the long thin bottle up using the left arm and shake it.", + "Take the plastic drink bottle using the left arm and give it a shake.", + "Grab the brown bottle with red label with the left arm and shake.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Grab the narrow-necked bottle and move it to shake.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Grab the plastic drink bottle using the left arm, then shake.", + "Shake the medium dark brown bottle after lifting it.", + "Hold the medium dark brown bottle and shake it properly.", + "With the left arm, pick the hand-sized soda bottle and shake properly.", + "Shake the smooth bottle with red lid after grabbing it.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Shake the hand-sized soda bottle after grabbing it.", + "Lift up the bottle with white neck and red top using the left arm, then shake.", + "Pick up the Coca-Cola bottle and shake it.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Hold the narrow-necked bottle, shake it briefly.", + "Lift the dark drink bottle with logo and shake it gently.", + "Grab the smooth bottle with red lid and give it a shake.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Pick up the narrow-necked bottle and shake it well.", + "Hold and shake the the narrow-necked bottle carefully.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Use the left arm to grab the smooth bottle with red lid and shake it.", + "Pick the dark drink bottle with logo up with the left arm and shake.", + "Utilize the left arm to hold the dark drink bottle with logo and shake it.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Grab the narrow-necked bottle and shake it steadily.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Use the left arm to lift and shake the red-capped bottle.", + "Lift the red-capped bottle with the left arm and shake.", + "Grip the dark drink bottle with logo using the left arm and shake.", + "Lift the dark drink bottle with logo with the left arm and shake it.", + "Lift the long thin bottle and shake it thoroughly.", + "Grab the medium dark brown bottle carefully and shake.", + "Shake the brown bottle with red label after holding it firmly.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Secure the medium dark brown bottle and perform a shake.", + "Use the left arm to hold the hand-sized soda bottle and shake it.", + "Grab and shake the bottle with white neck and red top using the left arm.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Pick the plastic drink bottle up using the left arm and shake it." + ], + "unseen": [ + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode297.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode297.json new file mode 100644 index 0000000000000000000000000000000000000000..55860d4276b0f4924428e96f24f9ef66d5dec87e --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode297.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the narrow-necked bottle with the left arm and shake it.", + "Shake the plastic drink bottle firmly after grabbing.", + "Grab the dark drink bottle with logo and move it to shake.", + "Lift the long thin bottle with the left arm and give it a shake.", + "Shake the brown bottle with red label after grabbing it.", + "Hold the medium dark brown bottle steady, then shake it.", + "Secure the brown bottle with red label and perform a shake.", + "Pick the red-capped bottle up using the left arm and shake it.", + "Grab and shake the medium dark brown bottle using the left arm.", + "Pick the long thin bottle and perform shaking motion.", + "Grab the red-capped bottle using the left arm, then shake.", + "Grip the red-capped bottle using the left arm and shake.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Pick up the Coca-Cola bottle and shake it well.", + "Pick up the brown bottle with red label and shake it.", + "Hold the medium dark brown bottle, shake it briefly.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Use the left arm to lift and shake the long thin bottle.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Shake the smooth bottle with red lid after grabbing it.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Shake the narrow-necked bottle after lifting it.", + "Shake the plastic drink bottle after holding it firmly.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Lift up the brown bottle with red label using the left arm, then shake.", + "Pick the brown bottle with red label, shake it with the left arm.", + "Use the left arm to grab the bottle with ridges on bottom and shake properly.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Pick the bottle with white neck and red top up with the left arm and shake.", + "Hold and shake the the plastic drink bottle carefully.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Shake the brown bottle with red label using the left arm after grabbing.", + "Catch the medium dark brown bottle and shake it instantly.", + "Grab the bottle with white neck and red top with the left arm and shake.", + "Use the left arm to pick and shake the medium dark brown bottle.", + "Use the left arm to grab the plastic drink bottle and shake it.", + "Hold the brown bottle with red label and shake it properly.", + "Shake the brown bottle with red label after grabbing it.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Use the left arm to hold the bottle with white neck and red top and shake it.", + "Grab the medium dark brown bottle and give it a shake.", + "Grasp the long thin bottle with the left arm and shake it.", + "Lift the long thin bottle and shake it gently.", + "Lift the smooth bottle with red lid with the left arm and shake it.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Shake the long thin bottle after grabbing it.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Secure the narrow-necked bottle and perform a shake.", + "Pick the red-capped bottle up using the left arm and shake it.", + "Grab and shake the brown bottle with red label using the left arm.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Grip the brown bottle with red label using the left arm and shake.", + "With the left arm, pick the hand-sized soda bottle and shake properly.", + "Pick up the hand-sized soda bottle and shake it well.", + "Pick up the red-capped bottle and shake it.", + "Hold the narrow-necked bottle, shake it briefly.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Shake the hand-sized soda bottle after grabbing it.", + "Hold the red-capped bottle with the left arm and shake lightly.", + "Grab the medium dark brown bottle carefully and shake.", + "Shake the smooth bottle with red lid after lifting it.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Shake the the narrow-necked bottle properly after lifting.", + "Lift up the narrow-necked bottle using the left arm, then shake.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Use the left arm to grab the long thin bottle and shake properly.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Pick the medium dark brown bottle up with the left arm and shake.", + "Hold and shake the the long thin bottle carefully.", + "Take the hand-sized soda bottle using the left arm and give it a shake.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Grab the Coca-Cola bottle with the left arm and shake.", + "Use the left arm to pick and shake the medium dark brown bottle.", + "Use the left arm to grab the dark drink bottle with logo and shake it.", + "Hold the brown bottle with red label and shake it properly.", + "Shake the medium dark brown bottle after grabbing it.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Using the left arm, shake the medium dark brown bottle and then place it back.", + "Use the left arm to hold the narrow-necked bottle and shake it.", + "Grab the narrow-necked bottle and give it a shake.", + "Grasp the bottle with ridges on bottom with the left arm and shake it.", + "Lift the Coca-Cola bottle and shake it gently." + ], + "unseen": [ + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode298.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode298.json new file mode 100644 index 0000000000000000000000000000000000000000..993588bc941ec269aab58070f7f1787636607cb9 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode298.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the plastic bottle using the right arm and give it a shake.", + "Lift the bottle with white printed label and shake it gently.", + "Grab the medium green bottle with capped neck using the right arm, then shake.", + "Shake the medium-sized green bottle using the right arm after grabbing.", + "Use the right arm to pick and shake the bottle with ridges near base.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Pick up the plastic bottle and shake it well.", + "Grab and shake the medium-sized green bottle using the right arm.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Shake the medium-sized green bottle after grabbing it.", + "Pick the smooth green bottle up with the right arm and shake.", + "Grasp the green bottle with indented base with the right arm and shake it.", + "Shake the bottle with narrow top after holding it firmly.", + "Grip the smooth green plastic bottle using the right arm and shake.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Pick the plastic bottle up using the right arm and shake it.", + "Lift up the bottle with white printed label using the right arm, then shake.", + "Utilize the right arm to hold the smooth green bottle and shake it.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Use the right arm to lift and shake the handheld green bottle.", + "Hold the bottle with white printed label and shake it properly.", + "Lift the medium-sized green bottle with the right arm and shake.", + "Secure the medium green bottle, shake it, and place it down.", + "Use the right arm to grab the plastic bottle and shake properly.", + "Pick up the bottle with rounded neck and shake it.", + "Grab the bottle with rounded neck and give it a shake.", + "Hold the plastic bottle, shake it briefly.", + "Shake the the plastic bottle properly after lifting.", + "Shake the plastic bottle after grabbing it.", + "Pick the medium green bottle and perform shaking motion.", + "Hold the bottle with ridges near base with the right arm and shake lightly.", + "Grab the smooth green plastic bottle carefully and shake.", + "With the right arm, pick the bottle with white printed label and shake properly.", + "Lift the plastic bottle and shake it thoroughly.", + "Grab the bottle with narrow top and shake it steadily.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Shake the plastic bottle after lifting it.", + "Grab the bottle with rounded neck and move it to shake.", + "Use the right arm to grab the handheld green bottle and shake it.", + "Grab the smooth green plastic bottle with the right arm and shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Use the right arm to hold the bottle with ridges near base and shake it.", + "Lift the smooth green plastic bottle with the right arm and give it a shake.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Catch the medium-sized green bottle and shake it instantly.", + "Lift the green bottle with indented base with the right arm and shake it.", + "Using the right arm, shake the handheld green bottle and then place it back.", + "Hold and shake the the smooth green bottle carefully.", + "Pick the medium-sized green bottle, shake it with the right arm.", + "Take the medium green bottle using the right arm and give it a shake.", + "Lift the bottle with narrow top and shake it gently.", + "Grab the bottle with rounded neck using the right arm, then shake.", + "Shake the smooth green bottle using the right arm after grabbing.", + "Use the right arm to pick and shake the plastic bottle.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Use the right arm to lift and shake the plastic bottle.", + "Pick up the bottle with rounded neck and shake it well.", + "Grab and shake the smooth green bottle using the right arm.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Shake the smooth green bottle after grabbing it.", + "Pick the medium green bottle with capped neck up with the right arm and shake.", + "Grasp the green bottle with indented base with the right arm and shake it.", + "Shake the green bottle with indented base after holding it firmly.", + "Grip the green bottle with indented base using the right arm and shake.", + "Secure the bottle with narrow top and perform a shake.", + "Pick the smooth green bottle up using the right arm and shake it.", + "Lift up the green bottle with indented base using the right arm, then shake.", + "Utilize the right arm to hold the bottle with rounded neck and shake it.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the smooth green bottle.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Lift the plastic bottle with the right arm and shake.", + "Secure the handheld green bottle, shake it, and place it down.", + "Use the right arm to grab the bottle with narrow top and shake properly.", + "Pick up the handheld green bottle and shake it.", + "Grab the smooth green bottle and give it a shake.", + "Hold the handheld green bottle, shake it briefly.", + "Shake the the plastic bottle properly after lifting.", + "Shake the handheld green bottle after grabbing it.", + "Pick the handheld green bottle and perform shaking motion.", + "Hold the smooth green plastic bottle with the right arm and shake lightly.", + "Grab the smooth green bottle carefully and shake.", + "With the right arm, pick the smooth green bottle and shake properly.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Grab the bottle with ridges near base and shake it steadily.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Shake the smooth green bottle after lifting it.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Use the right arm to grab the bottle with white printed label and shake it.", + "Grab the bottle with narrow top with the right arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to hold the bottle with narrow top and shake it.", + "Lift the bottle with white printed label with the right arm and give it a shake.", + "Hold the medium green bottle steady, then shake it.", + "Catch the handheld green bottle and shake it instantly.", + "Lift the bottle with rounded neck with the right arm and shake it.", + "Using the right arm, shake the medium-sized green bottle and then place it back.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Pick the handheld green bottle, shake it with the right arm." + ], + "unseen": [ + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode299.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode299.json new file mode 100644 index 0000000000000000000000000000000000000000..1705610c421f4a8612e75ad8218c64e28144b4b8 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode299.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the hand-sized soda bottle, shake it briefly.", + "Pick the medium dark brown bottle, shake it with the right arm.", + "Grab the brown bottle with red label and shake it steadily.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Grab the narrow-necked bottle and give it a shake.", + "Lift up the medium dark brown bottle using the right arm, then shake.", + "Lift the dark drink bottle with logo with the right arm and give it a shake.", + "Lift the smooth bottle with red lid with the right arm and shake it.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Using the right arm, shake the bottle with white neck and red top and then place it back.", + "Grab the medium dark brown bottle using the right arm, then shake.", + "With the right arm, pick the long thin bottle and shake properly.", + "Hold the plastic drink bottle and shake it properly.", + "Grab and shake the hand-sized soda bottle using the right arm.", + "Pick the bottle with white neck and red top up using the right arm and shake it.", + "Use the right arm to hold the bottle with white neck and red top and shake it.", + "Shake the narrow-necked bottle using the right arm after grabbing.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Shake the brown bottle with red label after grabbing it.", + "Use the right arm to grab the hand-sized soda bottle and shake properly.", + "Pick the red-capped bottle up with the right arm and shake.", + "Use the right arm to pick and shake the red-capped bottle.", + "Shake the smooth bottle with red lid after grabbing it.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Hold the brown bottle with red label with the right arm and shake lightly.", + "Grab the red-capped bottle carefully and shake.", + "Pick up the red-capped bottle and shake it.", + "Lift the plastic drink bottle with the right arm and shake.", + "Grasp the red-capped bottle with the right arm and shake it.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Shake the the narrow-necked bottle properly after lifting.", + "Utilize the right arm to hold the Coca-Cola bottle and shake it.", + "Secure the bottle with white neck and red top and perform a shake.", + "Use the right arm to grab the bottle with white neck and red top and shake it.", + "Secure the red-capped bottle, shake it, and place it down.", + "Shake the plastic drink bottle after grabbing it.", + "Take the brown bottle with red label using the right arm and give it a shake.", + "Shake the plastic drink bottle after holding it firmly.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Lift the red-capped bottle and shake it gently.", + "Pick the plastic drink bottle and perform shaking motion.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Shake the dark drink bottle with logo after lifting it.", + "Grab the Coca-Cola bottle with the right arm and shake.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Pick the red-capped bottle, shake it with the right arm.", + "Grab the long thin bottle and shake it steadily.", + "Grip the brown bottle with red label using the right arm and shake.", + "Grab the brown bottle with red label and move it to shake.", + "Hold the brown bottle with red label steady, then shake it.", + "Grab the plastic drink bottle and give it a shake.", + "Lift up the medium dark brown bottle using the right arm, then shake.", + "Lift the smooth bottle with red lid with the right arm and give it a shake.", + "Lift the dark drink bottle with logo with the right arm and shake it.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Using the right arm, shake the narrow-necked bottle and then place it back.", + "Grab the narrow-necked bottle using the right arm, then shake.", + "With the right arm, pick the hand-sized soda bottle and shake properly.", + "Hold the Coca-Cola bottle and shake it properly.", + "Grab and shake the narrow-necked bottle using the right arm.", + "Pick the brown bottle with red label up using the right arm and shake it.", + "Use the right arm to hold the dark drink bottle with logo and shake it.", + "Shake the plastic drink bottle using the right arm after grabbing.", + "Pick up the long thin bottle and shake it well.", + "Shake the red-capped bottle after grabbing it.", + "Use the right arm to grab the long thin bottle and shake properly.", + "Pick the narrow-necked bottle up with the right arm and shake.", + "Use the right arm to pick and shake the red-capped bottle.", + "Shake the long thin bottle after grabbing it.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Hold the hand-sized soda bottle with the right arm and shake lightly.", + "Grab the hand-sized soda bottle carefully and shake.", + "Pick up the bottle with ridges on bottom and shake it.", + "Lift the narrow-necked bottle with the right arm and shake.", + "Grasp the bottle with ridges on bottom with the right arm and shake it.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Utilize the right arm to hold the smooth bottle with red lid and shake it.", + "Secure the medium dark brown bottle and perform a shake.", + "Use the right arm to grab the dark drink bottle with logo and shake it.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Shake the hand-sized soda bottle after grabbing it.", + "Take the bottle with white neck and red top using the right arm and give it a shake.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Lift the brown bottle with red label and shake it gently.", + "Pick the brown bottle with red label and perform shaking motion.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Shake the red-capped bottle after lifting it.", + "Grab the smooth bottle with red lid with the right arm and shake.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Hold and shake the the medium dark brown bottle carefully.", + "Shake the plastic drink bottle firmly after grabbing." + ], + "unseen": [ + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode3.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..3f6b7fdf283cae1352c9b878a346f75958b25aa6 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the bottle with white neck and red top.", + "With the right arm, pick the Coca-Cola bottle and shake properly.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Grab the Coca-Cola bottle and move it to shake.", + "Pick the smooth bottle with red lid up with the right arm and shake.", + "Hold the bottle with ridges on bottom with the right arm and shake lightly.", + "Secure the brown bottle with red label and perform a shake.", + "Lift up the dark drink bottle with logo using the right arm, then shake.", + "Take the red-capped bottle using the right arm and give it a shake.", + "Use the right arm to grab the bottle with ridges on bottom and shake properly.", + "Shake the brown bottle with red label after grabbing it.", + "Using the right arm, shake the dark drink bottle with logo and then place it back.", + "Use the right arm to lift and shake the red-capped bottle.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Shake the the red-capped bottle properly after lifting.", + "Grab and shake the dark drink bottle with logo using the right arm.", + "Shake the medium dark brown bottle after grabbing it.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Grab the narrow-necked bottle using the right arm, then shake.", + "Use the right arm to pick and shake the bottle with white neck and red top.", + "Grab the bottle with white neck and red top and give it a shake.", + "Pick the hand-sized soda bottle up using the right arm and shake it.", + "Pick the red-capped bottle, shake it with the right arm.", + "Lift the plastic drink bottle and shake it gently.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Use the right arm to grab the dark drink bottle with logo and shake it.", + "Shake the plastic drink bottle after holding it firmly.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Grip the red-capped bottle using the right arm and shake.", + "Shake the dark drink bottle with logo using the right arm after grabbing.", + "Shake the plastic drink bottle firmly after grabbing.", + "Use the right arm to hold the bottle with white neck and red top and shake it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Utilize the right arm to hold the medium dark brown bottle and shake it.", + "Lift the medium dark brown bottle with the right arm and shake it.", + "Lift the hand-sized soda bottle with the right arm and shake.", + "Grab the red-capped bottle with the right arm and shake.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Pick up the dark drink bottle with logo and shake it.", + "Hold the medium dark brown bottle and shake it properly.", + "Lift the red-capped bottle with the right arm and give it a shake.", + "Grab the Coca-Cola bottle carefully and shake.", + "Lift the long thin bottle and shake it thoroughly.", + "Grasp the Coca-Cola bottle with the right arm and shake it.", + "Pick up the Coca-Cola bottle and shake it well.", + "Shake the narrow-necked bottle after lifting it.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "With the right arm, pick the medium dark brown bottle and shake properly.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Grab the bottle with white neck and red top and move it to shake.", + "Pick the brown bottle with red label up with the right arm and shake.", + "Hold the bottle with ridges on bottom with the right arm and shake lightly.", + "Secure the bottle with white neck and red top and perform a shake.", + "Lift up the long thin bottle using the right arm, then shake.", + "Take the Coca-Cola bottle using the right arm and give it a shake.", + "Use the right arm to grab the dark drink bottle with logo and shake properly.", + "Shake the hand-sized soda bottle after grabbing it.", + "Using the right arm, shake the hand-sized soda bottle and then place it back.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Shake the the narrow-necked bottle properly after lifting.", + "Grab and shake the plastic drink bottle using the right arm.", + "Shake the smooth bottle with red lid after grabbing it.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Grab the bottle with white neck and red top using the right arm, then shake.", + "Use the right arm to pick and shake the bottle with white neck and red top.", + "Grab the red-capped bottle and give it a shake.", + "Pick the brown bottle with red label up using the right arm and shake it.", + "Pick the bottle with white neck and red top, shake it with the right arm.", + "Lift the brown bottle with red label and shake it gently.", + "Pick the red-capped bottle and perform shaking motion.", + "Hold and shake the the medium dark brown bottle carefully.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Use the right arm to grab the dark drink bottle with logo and shake it.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Catch the medium dark brown bottle and shake it instantly.", + "Grip the bottle with ridges on bottom using the right arm and shake.", + "Shake the bottle with ridges on bottom using the right arm after grabbing.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Use the right arm to hold the dark drink bottle with logo and shake it.", + "Shake the bottle with white neck and red top after grabbing it.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Utilize the right arm to hold the hand-sized soda bottle and shake it.", + "Lift the narrow-necked bottle with the right arm and shake it.", + "Lift the smooth bottle with red lid with the right arm and shake.", + "Grab the dark drink bottle with logo with the right arm and shake.", + "Hold the brown bottle with red label steady, then shake it.", + "Pick up the long thin bottle and shake it.", + "Hold the brown bottle with red label and shake it properly.", + "Lift the bottle with white neck and red top with the right arm and give it a shake.", + "Grab the red-capped bottle carefully and shake.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Grasp the hand-sized soda bottle with the right arm and shake it.", + "Pick up the long thin bottle and shake it well.", + "Shake the bottle with white neck and red top after lifting it." + ], + "unseen": [ + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode30.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..772d7482b986b568462783d61934cb99395a5cdb --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the right arm, pick the narrow-necked bottle and shake properly.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Lift up the brown bottle with red label using the right arm, then shake.", + "Shake the the medium dark brown bottle properly after lifting.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Grab the brown bottle with red label and move it to shake.", + "Lift the plastic drink bottle with the right arm and shake.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Grab and shake the long thin bottle using the right arm.", + "Lift the narrow-necked bottle and shake it gently.", + "Grasp the brown bottle with red label with the right arm and shake it.", + "Hold the red-capped bottle and shake it properly.", + "Pick the Coca-Cola bottle up using the right arm and shake it.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Lift the bottle with ridges on bottom with the right arm and give it a shake.", + "Pick up the bottle with white neck and red top and shake it.", + "Hold and shake the the long thin bottle carefully.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Pick the narrow-necked bottle up with the right arm and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Shake the plastic drink bottle after grabbing it.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Grab the narrow-necked bottle and give it a shake.", + "Grab the medium dark brown bottle carefully and shake.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Use the right arm to pick and shake the bottle with white neck and red top.", + "Hold the plastic drink bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Shake the plastic drink bottle after grabbing it.", + "Grab the bottle with ridges on bottom using the right arm, then shake.", + "Hold the plastic drink bottle, shake it briefly.", + "Pick up the brown bottle with red label and shake it well.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Using the right arm, shake the dark drink bottle with logo and then place it back.", + "Use the right arm to grab the long thin bottle and shake it.", + "Grab the Coca-Cola bottle with the right arm and shake.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Use the right arm to grab the narrow-necked bottle and shake properly.", + "Lift the Coca-Cola bottle with the right arm and shake it.", + "Hold the long thin bottle steady, then shake it.", + "Use the right arm to hold the plastic drink bottle and shake it.", + "Take the smooth bottle with red lid using the right arm and give it a shake.", + "Shake the hand-sized soda bottle using the right arm after grabbing.", + "Pick the narrow-necked bottle, shake it with the right arm.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Secure the plastic drink bottle and perform a shake.", + "Shake the red-capped bottle after lifting it.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "With the right arm, pick the dark drink bottle with logo and shake properly.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Lift up the medium dark brown bottle using the right arm, then shake.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Grab the plastic drink bottle and move it to shake.", + "Lift the long thin bottle with the right arm and shake.", + "Grab the medium dark brown bottle and shake it steadily.", + "Grab and shake the plastic drink bottle using the right arm.", + "Lift the hand-sized soda bottle and shake it gently.", + "Grasp the bottle with white neck and red top with the right arm and shake it.", + "Hold the long thin bottle and shake it properly.", + "Pick the plastic drink bottle up using the right arm and shake it.", + "Secure the red-capped bottle, shake it, and place it down.", + "Lift the dark drink bottle with logo with the right arm and give it a shake.", + "Pick up the bottle with ridges on bottom and shake it.", + "Hold and shake the the red-capped bottle carefully.", + "Utilize the right arm to hold the bottle with ridges on bottom and shake it.", + "Pick the bottle with white neck and red top up with the right arm and shake.", + "Shake the brown bottle with red label after grabbing it.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "Shake the medium dark brown bottle after grabbing it.", + "Grip the dark drink bottle with logo using the right arm and shake.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Use the right arm to pick and shake the hand-sized soda bottle.", + "Hold the brown bottle with red label with the right arm and shake lightly.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Shake the bottle with white neck and red top after grabbing it.", + "Grab the hand-sized soda bottle using the right arm, then shake.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Pick up the smooth bottle with red lid and shake it well.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Using the right arm, shake the smooth bottle with red lid and then place it back.", + "Use the right arm to grab the bottle with ridges on bottom and shake it.", + "Grab the dark drink bottle with logo with the right arm and shake.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Use the right arm to grab the Coca-Cola bottle and shake properly.", + "Lift the Coca-Cola bottle with the right arm and shake it.", + "Hold the medium dark brown bottle steady, then shake it.", + "Use the right arm to hold the bottle with white neck and red top and shake it.", + "Take the brown bottle with red label using the right arm and give it a shake.", + "Shake the dark drink bottle with logo using the right arm after grabbing.", + "Pick the narrow-necked bottle, shake it with the right arm.", + "Catch the brown bottle with red label and shake it instantly.", + "Secure the red-capped bottle and perform a shake.", + "Shake the dark drink bottle with logo after lifting it.", + "Use the right arm to lift and shake the bottle with white neck and red top." + ], + "unseen": [ + "Use the right arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode31.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..e160054c79ce1459345f34750ef1fe835d83c4e7 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the red-capped bottle and shake it.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Use the left arm to grab the long thin bottle and shake properly.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Hold the medium dark brown bottle and shake it properly.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Lift up the long thin bottle using the left arm, then shake.", + "Shake the bottle with white neck and red top after lifting it.", + "Hold and shake the the brown bottle with red label carefully.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Pick up the dark drink bottle with logo and shake it well.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Grab the long thin bottle carefully and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "With the left arm, pick the smooth bottle with red lid and shake properly.", + "Grab the medium dark brown bottle using the left arm, then shake.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Shake the long thin bottle using the left arm after grabbing.", + "Lift the plastic drink bottle and shake it gently.", + "Secure the dark drink bottle with logo and perform a shake.", + "Lift the smooth bottle with red lid with the left arm and shake.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Use the left arm to hold the brown bottle with red label and shake it.", + "Pick up the hand-sized soda bottle and shake it.", + "Hold the brown bottle with red label, shake it briefly.", + "Shake the the long thin bottle properly after lifting.", + "Pick the brown bottle with red label, shake it with the left arm.", + "Hold the plastic drink bottle with the left arm and shake lightly.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Using the left arm, shake the smooth bottle with red lid and then place it back.", + "Pick the hand-sized soda bottle up with the left arm and shake.", + "Pick the plastic drink bottle up using the left arm and shake it.", + "Grab the narrow-necked bottle with the left arm and shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Grasp the Coca-Cola bottle with the left arm and shake it.", + "Shake the narrow-necked bottle after holding it firmly.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Catch the medium dark brown bottle and shake it instantly.", + "Grab the long thin bottle and move it to shake.", + "Lift the Coca-Cola bottle with the left arm and shake it.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Grab and shake the brown bottle with red label using the left arm.", + "Grab the hand-sized soda bottle and give it a shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Use the left arm to grab the Coca-Cola bottle and shake it.", + "Take the long thin bottle using the left arm and give it a shake.", + "Use the left arm to grab the hand-sized soda bottle and shake properly.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Hold the red-capped bottle steady, then shake it.", + "Lift up the brown bottle with red label using the left arm, then shake.", + "Shake the brown bottle with red label after lifting it.", + "Hold and shake the the medium dark brown bottle carefully.", + "Shake the long thin bottle firmly after grabbing.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Pick up the hand-sized soda bottle and shake it well.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Use the left arm to lift and shake the red-capped bottle.", + "Grab the bottle with white neck and red top carefully and shake.", + "Shake the brown bottle with red label after grabbing it.", + "With the left arm, pick the long thin bottle and shake properly.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Lift the smooth bottle with red lid and shake it gently.", + "Secure the medium dark brown bottle and perform a shake.", + "Lift the smooth bottle with red lid with the left arm and shake.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Grip the brown bottle with red label using the left arm and shake.", + "Use the left arm to hold the dark drink bottle with logo and shake it.", + "Pick up the Coca-Cola bottle and shake it.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Shake the the red-capped bottle properly after lifting.", + "Pick the hand-sized soda bottle, shake it with the left arm.", + "Hold the Coca-Cola bottle with the left arm and shake lightly.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Using the left arm, shake the dark drink bottle with logo and then place it back.", + "Pick the plastic drink bottle up with the left arm and shake.", + "Pick the smooth bottle with red lid up using the left arm and shake it.", + "Grab the medium dark brown bottle with the left arm and shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Grasp the narrow-necked bottle with the left arm and shake it.", + "Shake the long thin bottle after holding it firmly.", + "Pick the plastic drink bottle and perform shaking motion.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Grab the smooth bottle with red lid and move it to shake.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Grab and shake the Coca-Cola bottle using the left arm.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Shake the medium dark brown bottle after grabbing it." + ], + "unseen": [ + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode32.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..fc959c651ba2894a59dc2994dd117dafcb1b3253 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Use the left arm to grab the plastic drink bottle and shake it.", + "Grab the red-capped bottle and give it a shake.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "Shake the narrow-necked bottle after lifting it.", + "Pick up the long thin bottle and shake it well.", + "Lift the smooth bottle with red lid with the left arm and shake.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Use the left arm to pick and shake the hand-sized soda bottle.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Pick the red-capped bottle up with the left arm and shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Lift up the red-capped bottle using the left arm, then shake.", + "Hold the Coca-Cola bottle and shake it properly.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Hold the brown bottle with red label, shake it briefly.", + "With the left arm, pick the medium dark brown bottle and shake properly.", + "Grab the Coca-Cola bottle carefully and shake.", + "Secure the Coca-Cola bottle and perform a shake.", + "Use the left arm to hold the medium dark brown bottle and shake it.", + "Lift the smooth bottle with red lid with the left arm and shake it.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Grasp the bottle with ridges on bottom with the left arm and shake it.", + "Grip the medium dark brown bottle using the left arm and shake.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Grab the long thin bottle with the left arm and shake.", + "Pick up the long thin bottle and shake it.", + "Lift the narrow-necked bottle and shake it gently.", + "Shake the red-capped bottle after grabbing it.", + "Grab and shake the medium dark brown bottle using the left arm.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Hold the narrow-necked bottle steady, then shake it.", + "Grab the bottle with white neck and red top and move it to shake.", + "Catch the plastic drink bottle and shake it instantly.", + "Hold and shake the the red-capped bottle carefully.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Shake the red-capped bottle after grabbing it.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Utilize the left arm to hold the plastic drink bottle and shake it.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Pick the plastic drink bottle and perform shaking motion.", + "Grab the bottle with ridges on bottom using the left arm, then shake.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Lift the brown bottle with red label with the left arm and give it a shake.", + "Hold the hand-sized soda bottle with the left arm and shake lightly.", + "Pick the hand-sized soda bottle, shake it with the left arm.", + "Use the left arm to grab the dark drink bottle with logo and shake it.", + "Grab the dark drink bottle with logo and give it a shake.", + "Shake the long thin bottle using the left arm after grabbing.", + "Shake the bottle with white neck and red top after lifting it.", + "Pick up the smooth bottle with red lid and shake it well.", + "Lift the long thin bottle with the left arm and shake.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Use the left arm to grab the brown bottle with red label and shake properly.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Pick the long thin bottle up with the left arm and shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Lift up the long thin bottle using the left arm, then shake.", + "Hold the dark drink bottle with logo and shake it properly.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Shake the long thin bottle firmly after grabbing.", + "Hold the plastic drink bottle, shake it briefly.", + "With the left arm, pick the brown bottle with red label and shake properly.", + "Grab the smooth bottle with red lid carefully and shake.", + "Secure the bottle with white neck and red top and perform a shake.", + "Use the left arm to hold the dark drink bottle with logo and shake it.", + "Lift the smooth bottle with red lid with the left arm and shake it.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Grip the red-capped bottle using the left arm and shake.", + "Pick the dark drink bottle with logo up using the left arm and shake it.", + "Grab the Coca-Cola bottle with the left arm and shake.", + "Pick up the brown bottle with red label and shake it.", + "Lift the dark drink bottle with logo and shake it gently.", + "Shake the bottle with white neck and red top after grabbing it.", + "Grab and shake the long thin bottle using the left arm.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Grab the plastic drink bottle and move it to shake.", + "Catch the brown bottle with red label and shake it instantly.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Take the long thin bottle using the left arm and give it a shake.", + "Shake the red-capped bottle after holding it firmly.", + "Shake the brown bottle with red label after grabbing it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Utilize the left arm to hold the plastic drink bottle and shake it.", + "Shake the the plastic drink bottle properly after lifting.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Grab the hand-sized soda bottle using the left arm, then shake.", + "Grab the narrow-necked bottle and shake it steadily.", + "Lift the medium dark brown bottle with the left arm and give it a shake.", + "Hold the long thin bottle with the left arm and shake lightly." + ], + "unseen": [ + "Grab the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the brown bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode33.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..3af3e8725ad754ed09aa24589d53f1f2249b0aa1 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the Coca-Cola bottle after holding it firmly.", + "Use the right arm to hold the plastic drink bottle and shake it.", + "Use the right arm to pick and shake the medium dark brown bottle.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Grasp the bottle with ridges on bottom with the right arm and shake it.", + "Pick up the narrow-necked bottle and shake it.", + "Grab and shake the plastic drink bottle using the right arm.", + "Use the right arm to grab the hand-sized soda bottle and shake it.", + "Pick up the brown bottle with red label and shake it well.", + "Shake the Coca-Cola bottle using the right arm after grabbing.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Use the right arm to grab the bottle with white neck and red top and shake properly.", + "Utilize the right arm to hold the red-capped bottle and shake it.", + "Grab the brown bottle with red label carefully and shake.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Pick the smooth bottle with red lid, shake it with the right arm.", + "Secure the plastic drink bottle and perform a shake.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Lift the narrow-necked bottle with the right arm and shake it.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Lift up the dark drink bottle with logo using the right arm, then shake.", + "Take the dark drink bottle with logo using the right arm and give it a shake.", + "Hold the narrow-necked bottle and shake it properly.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Lift the long thin bottle with the right arm and shake.", + "Lift the smooth bottle with red lid and shake it gently.", + "Grab the dark drink bottle with logo and give it a shake.", + "Pick the Coca-Cola bottle up using the right arm and shake it.", + "Shake the medium dark brown bottle after grabbing it.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Grab the medium dark brown bottle and shake it steadily.", + "Grab the narrow-necked bottle using the right arm, then shake.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Hold the long thin bottle steady, then shake it.", + "Using the right arm, shake the smooth bottle with red lid and then place it back.", + "With the right arm, pick the bottle with ridges on bottom and shake properly.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Shake the Coca-Cola bottle after lifting it.", + "Grip the long thin bottle using the right arm and shake.", + "Pick the bottle with white neck and red top up with the right arm and shake.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Shake the narrow-necked bottle after grabbing it.", + "Grab the long thin bottle with the right arm and shake.", + "Lift the red-capped bottle with the right arm and give it a shake.", + "Hold the long thin bottle with the right arm and shake lightly.", + "Shake the medium dark brown bottle after holding it firmly.", + "Use the right arm to hold the bottle with ridges on bottom and shake it.", + "Use the right arm to pick and shake the hand-sized soda bottle.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Grasp the Coca-Cola bottle with the right arm and shake it.", + "Pick up the red-capped bottle and shake it.", + "Grab and shake the Coca-Cola bottle using the right arm.", + "Use the right arm to grab the red-capped bottle and shake it.", + "Pick up the dark drink bottle with logo and shake it well.", + "Shake the plastic drink bottle using the right arm after grabbing.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Use the right arm to grab the dark drink bottle with logo and shake properly.", + "Utilize the right arm to hold the Coca-Cola bottle and shake it.", + "Grab the smooth bottle with red lid carefully and shake.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Pick the bottle with ridges on bottom, shake it with the right arm.", + "Secure the hand-sized soda bottle and perform a shake.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Lift the plastic drink bottle with the right arm and shake it.", + "Catch the plastic drink bottle and shake it instantly.", + "Lift up the dark drink bottle with logo using the right arm, then shake.", + "Take the red-capped bottle using the right arm and give it a shake.", + "Hold the long thin bottle and shake it properly.", + "Use the right arm to lift and shake the red-capped bottle.", + "Lift the medium dark brown bottle with the right arm and shake.", + "Lift the red-capped bottle and shake it gently.", + "Grab the dark drink bottle with logo and give it a shake.", + "Pick the long thin bottle up using the right arm and shake it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Hold and shake the the red-capped bottle carefully.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Grab the brown bottle with red label using the right arm, then shake.", + "Grab the red-capped bottle and move it to shake.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Using the right arm, shake the narrow-necked bottle and then place it back.", + "With the right arm, pick the Coca-Cola bottle and shake properly.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Shake the bottle with white neck and red top after lifting it.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Pick the hand-sized soda bottle up with the right arm and shake.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Shake the narrow-necked bottle after grabbing it.", + "Shake the the narrow-necked bottle properly after lifting.", + "Shake the dark drink bottle with logo after grabbing it.", + "Grab the medium dark brown bottle with the right arm and shake.", + "Lift the plastic drink bottle with the right arm and give it a shake.", + "Hold the Coca-Cola bottle with the right arm and shake lightly." + ], + "unseen": [ + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode34.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..87f3dd322f819eb96b8590bdf6b6b384aa74576d --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift and shake the smooth green bottle.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Grab the plastic bottle and move it to shake.", + "Hold and shake the the medium-sized green bottle carefully.", + "With the left arm, pick the medium green bottle with capped neck and shake properly.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Utilize the left arm to hold the bottle with rounded neck and shake it.", + "Use the left arm to grab the smooth green bottle and shake it.", + "Shake the bottle with rounded neck after lifting it.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Lift the bottle with ridges near base and shake it gently.", + "Grasp the bottle with rounded neck with the left arm and shake it.", + "Grab the bottle with narrow top and shake it steadily.", + "Use the left arm to lift and shake the smooth green bottle.", + "Grab the handheld green bottle with the left arm and shake.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Take the smooth green plastic bottle using the left arm and give it a shake.", + "Lift up the bottle with ridges near base using the left arm, then shake.", + "Use the left arm to hold the medium-sized green bottle and shake it.", + "Hold the plastic bottle, shake it briefly.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Grab and shake the medium green bottle using the left arm.", + "Secure the smooth green bottle, shake it, and place it down.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Pick the medium green bottle up using the left arm and shake it.", + "Using the left arm, shake the bottle with ridges near base and then place it back.", + "Shake the smooth green bottle after holding it firmly.", + "Shake the bottle with rounded neck after grabbing it.", + "Pick up the bottle with ridges near base and shake it.", + "Shake the smooth green bottle using the left arm after grabbing.", + "Pick up the bottle with rounded neck and shake it well.", + "Catch the green bottle with indented base and shake it instantly.", + "Lift the green bottle with indented base with the left arm and shake.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Grab the green bottle with indented base carefully and shake.", + "Hold the medium green bottle with capped neck with the left arm and shake lightly.", + "Use the left arm to pick and shake the handheld green bottle.", + "Pick the plastic bottle up with the left arm and shake.", + "Grip the medium green bottle with capped neck using the left arm and shake.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Hold the green bottle with indented base steady, then shake it.", + "Shake the handheld green bottle after grabbing it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Secure the smooth green plastic bottle and perform a shake.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Grab the green bottle with indented base and give it a shake.", + "Shake the the plastic bottle properly after lifting.", + "Grab the bottle with white printed label using the left arm, then shake.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Use the left arm to lift and shake the plastic bottle.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Grab the smooth green plastic bottle and move it to shake.", + "Hold and shake the the medium green bottle carefully.", + "With the left arm, pick the bottle with narrow top and shake properly.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Utilize the left arm to hold the bottle with ridges near base and shake it.", + "Use the left arm to grab the bottle with white printed label and shake it.", + "Shake the bottle with narrow top after lifting it.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Lift the handheld green bottle and shake it gently.", + "Grasp the smooth green plastic bottle with the left arm and shake it.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Grab the smooth green bottle with the left arm and shake.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Take the green bottle with indented base using the left arm and give it a shake.", + "Lift up the plastic bottle using the left arm, then shake.", + "Use the left arm to hold the handheld green bottle and shake it.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Pick the bottle with narrow top and perform shaking motion.", + "Grab and shake the bottle with rounded neck using the left arm.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Hold the smooth green plastic bottle and shake it properly.", + "Pick the plastic bottle up using the left arm and shake it.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Shake the bottle with narrow top after holding it firmly.", + "Shake the bottle with ridges near base after grabbing it.", + "Pick up the handheld green bottle and shake it.", + "Shake the medium-sized green bottle using the left arm after grabbing.", + "Pick up the green bottle with indented base and shake it well.", + "Catch the bottle with rounded neck and shake it instantly.", + "Lift the bottle with rounded neck with the left arm and shake.", + "Pick the bottle with rounded neck, shake it with the left arm.", + "Grab the plastic bottle carefully and shake.", + "Hold the handheld green bottle with the left arm and shake lightly.", + "Use the left arm to pick and shake the bottle with narrow top.", + "Pick the medium green bottle with capped neck up with the left arm and shake.", + "Grip the bottle with white printed label using the left arm and shake.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Hold the smooth green bottle steady, then shake it.", + "Shake the bottle with ridges near base after grabbing it.", + "Shake the bottle with white printed label after grabbing it.", + "Secure the bottle with rounded neck and perform a shake.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Grab the bottle with narrow top and give it a shake.", + "Shake the the bottle with rounded neck properly after lifting.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Use the left arm to grab the bottle with narrow top and shake properly." + ], + "unseen": [ + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode35.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..943db91651f1d30e63319059f52b4f9ae5f65b1b --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the bottle with narrow top with the right arm and shake it.", + "Pick the smooth green plastic bottle up with the right arm and shake.", + "Grab the smooth green bottle with the right arm and shake.", + "Lift up the smooth green plastic bottle using the right arm, then shake.", + "Secure the bottle with white printed label and perform a shake.", + "Grab the bottle with white printed label and move it to shake.", + "Grab the bottle with narrow top and give it a shake.", + "Using the right arm, shake the bottle with white printed label and then place it back.", + "Shake the medium green bottle after grabbing it.", + "Take the medium green bottle using the right arm and give it a shake.", + "Shake the the bottle with ridges near base properly after lifting.", + "Use the right arm to hold the smooth green bottle and shake it.", + "Use the right arm to grab the medium green bottle and shake it.", + "Lift the medium green bottle with capped neck with the right arm and shake.", + "Lift the green bottle with indented base with the right arm and give it a shake.", + "Shake the bottle with rounded neck after holding it firmly.", + "Shake the bottle with white printed label using the right arm after grabbing.", + "Hold and shake the the medium-sized green bottle carefully.", + "Hold the handheld green bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Hold the smooth green bottle and shake it properly.", + "Shake the green bottle with indented base after lifting it.", + "Grip the medium green bottle with capped neck using the right arm and shake.", + "Lift the smooth green bottle and shake it thoroughly.", + "Use the right arm to grab the smooth green bottle and shake properly.", + "Grab and shake the medium-sized green bottle using the right arm.", + "Shake the bottle with narrow top after grabbing it.", + "Grab the smooth green plastic bottle using the right arm, then shake.", + "Use the right arm to lift and shake the medium green bottle.", + "Pick the handheld green bottle up using the right arm and shake it.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Shake the handheld green bottle firmly after grabbing.", + "Catch the bottle with narrow top and shake it instantly.", + "Lift the smooth green plastic bottle and shake it gently.", + "Pick up the smooth green bottle and shake it.", + "Grab the medium-sized green bottle and shake it steadily.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Utilize the right arm to hold the bottle with rounded neck and shake it.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Grab the smooth green plastic bottle carefully and shake.", + "Use the right arm to pick and shake the medium-sized green bottle.", + "Pick the smooth green bottle, shake it with the right arm.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Lift the bottle with white printed label with the right arm and shake it.", + "With the right arm, pick the bottle with rounded neck and shake properly.", + "Pick the plastic bottle and perform shaking motion.", + "Hold the handheld green bottle, shake it briefly.", + "Hold the bottle with narrow top steady, then shake it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Grasp the plastic bottle with the right arm and shake it.", + "Pick the bottle with narrow top up with the right arm and shake.", + "Grab the smooth green bottle with the right arm and shake.", + "Lift up the medium green bottle with capped neck using the right arm, then shake.", + "Secure the bottle with narrow top and perform a shake.", + "Grab the smooth green bottle and move it to shake.", + "Grab the handheld green bottle and give it a shake.", + "Using the right arm, shake the bottle with narrow top and then place it back.", + "Shake the bottle with white printed label after grabbing it.", + "Take the medium green bottle with capped neck using the right arm and give it a shake.", + "Shake the the bottle with white printed label properly after lifting.", + "Use the right arm to hold the handheld green bottle and shake it.", + "Use the right arm to grab the medium green bottle and shake it.", + "Lift the plastic bottle with the right arm and shake.", + "Lift the bottle with narrow top with the right arm and give it a shake.", + "Shake the medium green bottle with capped neck after holding it firmly.", + "Shake the bottle with rounded neck using the right arm after grabbing.", + "Hold and shake the the handheld green bottle carefully.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Shake the bottle with ridges near base after lifting it.", + "Grip the plastic bottle using the right arm and shake.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Use the right arm to grab the bottle with rounded neck and shake properly.", + "Grab and shake the medium green bottle using the right arm.", + "Shake the bottle with ridges near base after grabbing it.", + "Grab the bottle with ridges near base using the right arm, then shake.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Pick the bottle with white printed label up using the right arm and shake it.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Shake the plastic bottle firmly after grabbing.", + "Catch the medium-sized green bottle and shake it instantly.", + "Lift the handheld green bottle and shake it gently.", + "Pick up the smooth green plastic bottle and shake it.", + "Grab the green bottle with indented base and shake it steadily.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Utilize the right arm to hold the handheld green bottle and shake it.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Grab the medium green bottle carefully and shake.", + "Use the right arm to pick and shake the bottle with narrow top.", + "Pick the green bottle with indented base, shake it with the right arm.", + "Pick up the bottle with white printed label and shake it well.", + "Lift the medium green bottle with the right arm and shake it.", + "With the right arm, pick the green bottle with indented base and shake properly.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Hold the green bottle with indented base, shake it briefly.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Shake the medium-sized green bottle after grabbing it." + ], + "unseen": [ + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode36.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..bca416ce35909d78dfdf7cf4b09aa19159624afd --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the smooth bottle with red lid and perform shaking motion.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Grab and shake the plastic drink bottle using the right arm.", + "With the right arm, pick the hand-sized soda bottle and shake properly.", + "Pick the brown bottle with red label, shake it with the right arm.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Lift the smooth bottle with red lid with the right arm and give it a shake.", + "Hold the medium dark brown bottle steady, then shake it.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Hold the red-capped bottle and shake it properly.", + "Grasp the bottle with white neck and red top with the right arm and shake it.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Lift the narrow-necked bottle with the right arm and shake.", + "Grip the bottle with ridges on bottom using the right arm and shake.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Lift the medium dark brown bottle with the right arm and shake it.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Using the right arm, shake the red-capped bottle and then place it back.", + "Shake the plastic drink bottle after grabbing it.", + "Secure the bottle with white neck and red top and perform a shake.", + "Pick the red-capped bottle up with the right arm and shake.", + "Shake the smooth bottle with red lid using the right arm after grabbing.", + "Catch the red-capped bottle and shake it instantly.", + "Use the right arm to grab the red-capped bottle and shake properly.", + "Shake the narrow-necked bottle after lifting it.", + "Pick up the medium dark brown bottle and shake it.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Hold the red-capped bottle with the right arm and shake lightly.", + "Pick the dark drink bottle with logo up using the right arm and shake it.", + "Shake the bottle with white neck and red top after grabbing it.", + "Use the right arm to hold the red-capped bottle and shake it.", + "Use the right arm to pick and shake the smooth bottle with red lid.", + "Grab the bottle with white neck and red top and move it to shake.", + "Take the red-capped bottle using the right arm and give it a shake.", + "Grab the red-capped bottle carefully and shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Lift the red-capped bottle and shake it gently.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Lift up the red-capped bottle using the right arm, then shake.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Grab the narrow-necked bottle and give it a shake.", + "Pick up the smooth bottle with red lid and shake it well.", + "Grab the long thin bottle with the right arm and shake.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Grab the plastic drink bottle using the right arm, then shake.", + "Grab the brown bottle with red label and shake it steadily.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Use the right arm to grab the bottle with ridges on bottom and shake it.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Grab and shake the medium dark brown bottle using the right arm.", + "With the right arm, pick the dark drink bottle with logo and shake properly.", + "Pick the bottle with ridges on bottom, shake it with the right arm.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Hold the plastic drink bottle steady, then shake it.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Grasp the plastic drink bottle with the right arm and shake it.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Lift the bottle with white neck and red top with the right arm and shake.", + "Grip the medium dark brown bottle using the right arm and shake.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Lift the bottle with ridges on bottom with the right arm and shake it.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Using the right arm, shake the dark drink bottle with logo and then place it back.", + "Shake the bottle with white neck and red top after grabbing it.", + "Secure the long thin bottle and perform a shake.", + "Pick the medium dark brown bottle up with the right arm and shake.", + "Shake the narrow-necked bottle using the right arm after grabbing.", + "Catch the red-capped bottle and shake it instantly.", + "Use the right arm to grab the plastic drink bottle and shake properly.", + "Shake the dark drink bottle with logo after lifting it.", + "Pick up the plastic drink bottle and shake it.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Hold the smooth bottle with red lid with the right arm and shake lightly.", + "Pick the red-capped bottle up using the right arm and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the right arm to hold the Coca-Cola bottle and shake it.", + "Use the right arm to pick and shake the narrow-necked bottle.", + "Grab the dark drink bottle with logo and move it to shake.", + "Take the red-capped bottle using the right arm and give it a shake.", + "Grab the dark drink bottle with logo carefully and shake.", + "Shake the long thin bottle after grabbing it.", + "Lift the bottle with white neck and red top and shake it gently.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Lift up the red-capped bottle using the right arm, then shake.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Grab the plastic drink bottle and give it a shake.", + "Pick up the hand-sized soda bottle and shake it well.", + "Grab the Coca-Cola bottle with the right arm and shake.", + "Shake the the long thin bottle properly after lifting.", + "Shake the red-capped bottle after holding it firmly.", + "Grab the smooth bottle with red lid using the right arm, then shake.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Utilize the right arm to hold the red-capped bottle and shake it.", + "Use the right arm to grab the brown bottle with red label and shake it." + ], + "unseen": [ + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode37.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..bcce6e0eeb95763529b3e160909cfd00f08af8cb --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the plastic bottle and shake properly.", + "Lift the smooth green bottle with the left arm and give it a shake.", + "Shake the bottle with narrow top after holding it firmly.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Grab the medium green bottle and give it a shake.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Shake the green bottle with indented base after grabbing it.", + "Lift the bottle with white printed label with the left arm and shake it.", + "Shake the medium-sized green bottle using the left arm after grabbing.", + "Grab the bottle with rounded neck and shake it steadily.", + "With the left arm, pick the medium green bottle and shake properly.", + "Grab and shake the green bottle with indented base using the left arm.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Use the left arm to lift and shake the plastic bottle.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Use the left arm to hold the green bottle with indented base and shake it.", + "Hold the plastic bottle, shake it briefly.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Catch the handheld green bottle and shake it instantly.", + "Using the left arm, shake the bottle with narrow top and then place it back.", + "Pick the smooth green plastic bottle up using the left arm and shake it.", + "Lift the smooth green plastic bottle and shake it gently.", + "Grab the handheld green bottle using the left arm, then shake.", + "Grab the bottle with rounded neck with the left arm and shake.", + "Hold the medium-sized green bottle steady, then shake it.", + "Use the left arm to grab the bottle with ridges near base and shake it.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Pick up the bottle with white printed label and shake it well.", + "Secure the medium-sized green bottle and perform a shake.", + "Utilize the left arm to hold the medium-sized green bottle and shake it.", + "Grab the green bottle with indented base carefully and shake.", + "Pick the green bottle with indented base, shake it with the left arm.", + "Lift the medium green bottle with capped neck with the left arm and shake.", + "Pick the plastic bottle and perform shaking motion.", + "Use the left arm to pick and shake the medium green bottle.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Hold and shake the the medium green bottle carefully.", + "Pick the green bottle with indented base up with the left arm and shake.", + "Pick up the bottle with narrow top and shake it.", + "Grasp the bottle with white printed label with the left arm and shake it.", + "Grab the smooth green bottle and move it to shake.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Shake the bottle with ridges near base after lifting it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Shake the the bottle with ridges near base properly after lifting.", + "Grip the green bottle with indented base using the left arm and shake.", + "Hold the bottle with ridges near base and shake it properly.", + "Lift up the bottle with ridges near base using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Shake the bottle with rounded neck after grabbing it.", + "Use the left arm to grab the bottle with white printed label and shake properly.", + "Lift the bottle with ridges near base with the left arm and give it a shake.", + "Shake the smooth green bottle after holding it firmly.", + "Take the bottle with narrow top using the left arm and give it a shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Secure the medium green bottle, shake it, and place it down.", + "Shake the smooth green plastic bottle after grabbing it.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Shake the handheld green bottle using the left arm after grabbing.", + "Grab the medium-sized green bottle and shake it steadily.", + "With the left arm, pick the handheld green bottle and shake properly.", + "Grab and shake the bottle with narrow top using the left arm.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Use the left arm to hold the plastic bottle and shake it.", + "Hold the plastic bottle, shake it briefly.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Catch the smooth green bottle and shake it instantly.", + "Using the left arm, shake the medium-sized green bottle and then place it back.", + "Pick the plastic bottle up using the left arm and shake it.", + "Lift the medium green bottle and shake it gently.", + "Grab the medium-sized green bottle using the left arm, then shake.", + "Grab the handheld green bottle with the left arm and shake.", + "Hold the green bottle with indented base steady, then shake it.", + "Use the left arm to grab the plastic bottle and shake it.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Pick up the bottle with ridges near base and shake it well.", + "Secure the plastic bottle and perform a shake.", + "Utilize the left arm to hold the handheld green bottle and shake it.", + "Grab the bottle with rounded neck carefully and shake.", + "Pick the smooth green plastic bottle, shake it with the left arm.", + "Lift the smooth green plastic bottle with the left arm and shake.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Use the left arm to pick and shake the bottle with ridges near base.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Hold and shake the the green bottle with indented base carefully.", + "Pick the bottle with narrow top up with the left arm and shake.", + "Pick up the medium green bottle with capped neck and shake it.", + "Grasp the bottle with white printed label with the left arm and shake it.", + "Grab the bottle with white printed label and move it to shake.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Shake the smooth green bottle after lifting it.", + "Shake the bottle with narrow top after grabbing it.", + "Shake the the bottle with ridges near base properly after lifting.", + "Grip the smooth green bottle using the left arm and shake.", + "Hold the bottle with ridges near base and shake it properly.", + "Lift up the plastic bottle using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Shake the smooth green bottle after grabbing it." + ], + "unseen": [ + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode38.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..4884e02a488ffba277d796ac236985bd725b96a8 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to hold the smooth bottle with red lid and shake it.", + "Secure the red-capped bottle, shake it, and place it down.", + "Hold the Coca-Cola bottle and shake it properly.", + "Lift up the medium dark brown bottle using the left arm, then shake.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Pick up the red-capped bottle and shake it.", + "Grab the medium dark brown bottle and shake it steadily.", + "Grab the narrow-necked bottle and move it to shake.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Grab and shake the bottle with white neck and red top using the left arm.", + "Pick up the plastic drink bottle and shake it well.", + "Grab the smooth bottle with red lid carefully and shake.", + "Lift the narrow-necked bottle with the left arm and give it a shake.", + "Hold and shake the the long thin bottle carefully.", + "Hold the brown bottle with red label steady, then shake it.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Grab the medium dark brown bottle and give it a shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Lift the red-capped bottle with the left arm and shake it.", + "Secure the smooth bottle with red lid and perform a shake.", + "Hold the brown bottle with red label with the left arm and shake lightly.", + "Shake the red-capped bottle after holding it firmly.", + "Shake the medium dark brown bottle after grabbing it.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Pick the long thin bottle up using the left arm and shake it.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Shake the narrow-necked bottle using the left arm after grabbing.", + "Grasp the Coca-Cola bottle with the left arm and shake it.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Using the left arm, shake the bottle with ridges on bottom and then place it back.", + "Utilize the left arm to hold the hand-sized soda bottle and shake it.", + "Lift the plastic drink bottle with the left arm and shake.", + "Use the left arm to grab the hand-sized soda bottle and shake properly.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Grab the hand-sized soda bottle using the left arm, then shake.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Grab the brown bottle with red label with the left arm and shake.", + "Take the long thin bottle using the left arm and give it a shake.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Lift the medium dark brown bottle and shake it gently.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Grip the plastic drink bottle using the left arm and shake.", + "Shake the smooth bottle with red lid after lifting it.", + "With the left arm, pick the smooth bottle with red lid and shake properly.", + "Use the left arm to hold the Coca-Cola bottle and shake it.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Hold the hand-sized soda bottle and shake it properly.", + "Lift up the long thin bottle using the left arm, then shake.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Pick up the hand-sized soda bottle and shake it.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Grab the Coca-Cola bottle and move it to shake.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Grab and shake the smooth bottle with red lid using the left arm.", + "Pick up the long thin bottle and shake it well.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Lift the brown bottle with red label with the left arm and give it a shake.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Hold the red-capped bottle steady, then shake it.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Shake the dark drink bottle with logo after grabbing it.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Grab the narrow-necked bottle and give it a shake.", + "Shake the long thin bottle after grabbing it.", + "Lift the bottle with white neck and red top with the left arm and shake it.", + "Secure the medium dark brown bottle and perform a shake.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Use the left arm to pick and shake the bottle with white neck and red top.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Pick the brown bottle with red label up using the left arm and shake it.", + "Pick the brown bottle with red label, shake it with the left arm.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Grasp the narrow-necked bottle with the left arm and shake it.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Using the left arm, shake the medium dark brown bottle and then place it back.", + "Utilize the left arm to hold the long thin bottle and shake it.", + "Lift the red-capped bottle with the left arm and shake.", + "Use the left arm to grab the Coca-Cola bottle and shake properly.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "Catch the plastic drink bottle and shake it instantly.", + "Grab the Coca-Cola bottle using the left arm, then shake.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Use the left arm to lift and shake the long thin bottle.", + "Use the left arm to grab the hand-sized soda bottle and shake it.", + "Grab the medium dark brown bottle with the left arm and shake.", + "Take the plastic drink bottle using the left arm and give it a shake.", + "Shake the the long thin bottle properly after lifting.", + "Lift the medium dark brown bottle and shake it gently.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Grip the dark drink bottle with logo using the left arm and shake.", + "Shake the medium dark brown bottle after lifting it.", + "With the left arm, pick the plastic drink bottle and shake properly." + ], + "unseen": [ + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode39.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..186353e552bb723097e40366ed01c9dfd582d4f8 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the smooth green bottle after grabbing it.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Secure the plastic bottle and perform a shake.", + "Lift the medium green bottle and shake it gently.", + "Take the smooth green bottle using the left arm and give it a shake.", + "Pick the smooth green bottle up with the left arm and shake.", + "Pick up the handheld green bottle and shake it well.", + "Use the left arm to grab the handheld green bottle and shake properly.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Lift the bottle with white printed label with the left arm and shake it.", + "Grab the bottle with white printed label and give it a shake.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Grab the plastic bottle carefully and shake.", + "Hold the green bottle with indented base and shake it properly.", + "Grip the medium green bottle using the left arm and shake.", + "Utilize the left arm to hold the medium-sized green bottle and shake it.", + "Shake the plastic bottle after grabbing it.", + "Grab and shake the smooth green bottle using the left arm.", + "Using the left arm, shake the bottle with narrow top and then place it back.", + "Catch the bottle with narrow top and shake it instantly.", + "Lift up the bottle with rounded neck using the left arm, then shake.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Grab the medium-sized green bottle using the left arm, then shake.", + "Hold the bottle with rounded neck, shake it briefly.", + "Pick the bottle with ridges near base, shake it with the left arm.", + "Use the left arm to hold the medium green bottle with capped neck and shake it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Pick the medium green bottle and perform shaking motion.", + "Hold the smooth green bottle with the left arm and shake lightly.", + "Pick the plastic bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Shake the bottle with narrow top after lifting it.", + "Grasp the bottle with white printed label with the left arm and shake it.", + "With the left arm, pick the bottle with white printed label and shake properly.", + "Lift the smooth green plastic bottle with the left arm and give it a shake.", + "Use the left arm to grab the bottle with narrow top and shake it.", + "Pick up the medium green bottle and shake it.", + "Shake the bottle with narrow top after holding it firmly.", + "Secure the handheld green bottle, shake it, and place it down.", + "Lift the handheld green bottle with the left arm and shake.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Shake the handheld green bottle using the left arm after grabbing.", + "Hold and shake the the medium green bottle carefully.", + "Grab the plastic bottle and move it to shake.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Hold the medium-sized green bottle steady, then shake it.", + "Use the left arm to pick and shake the smooth green plastic bottle.", + "Grab the smooth green bottle with the left arm and shake.", + "Shake the bottle with ridges near base after grabbing it.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Secure the plastic bottle and perform a shake.", + "Lift the bottle with narrow top and shake it gently.", + "Take the bottle with ridges near base using the left arm and give it a shake.", + "Pick the bottle with ridges near base up with the left arm and shake.", + "Pick up the smooth green plastic bottle and shake it well.", + "Use the left arm to grab the handheld green bottle and shake properly.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Lift the smooth green bottle with the left arm and shake it.", + "Grab the medium green bottle and give it a shake.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Grab the bottle with rounded neck carefully and shake.", + "Hold the smooth green bottle and shake it properly.", + "Grip the medium green bottle using the left arm and shake.", + "Utilize the left arm to hold the smooth green bottle and shake it.", + "Shake the bottle with ridges near base after grabbing it.", + "Grab and shake the plastic bottle using the left arm.", + "Using the left arm, shake the medium green bottle and then place it back.", + "Catch the plastic bottle and shake it instantly.", + "Lift up the bottle with ridges near base using the left arm, then shake.", + "Shake the the handheld green bottle properly after lifting.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Grab the bottle with white printed label using the left arm, then shake.", + "Hold the smooth green bottle, shake it briefly.", + "Pick the plastic bottle, shake it with the left arm.", + "Use the left arm to hold the bottle with ridges near base and shake it.", + "Shake the handheld green bottle after grabbing it.", + "Grab the medium green bottle with capped neck and shake it steadily.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Hold the green bottle with indented base with the left arm and shake lightly.", + "Pick the bottle with narrow top up using the left arm and shake it.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Shake the medium green bottle with capped neck after lifting it.", + "Grasp the plastic bottle with the left arm and shake it.", + "With the left arm, pick the plastic bottle and shake properly.", + "Lift the handheld green bottle with the left arm and give it a shake.", + "Use the left arm to grab the medium green bottle with capped neck and shake it.", + "Pick up the bottle with rounded neck and shake it.", + "Shake the bottle with narrow top after holding it firmly.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Lift the smooth green bottle with the left arm and shake.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Shake the plastic bottle using the left arm after grabbing.", + "Hold and shake the the smooth green bottle carefully.", + "Grab the bottle with rounded neck and move it to shake.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Hold the green bottle with indented base steady, then shake it.", + "Use the left arm to pick and shake the green bottle with indented base.", + "Grab the medium green bottle with the left arm and shake." + ], + "unseen": [ + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode4.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..84ba0f9a69871bbf57c933aa958381b6ddd92f43 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to pick and shake the handheld green bottle.", + "With the left arm, pick the bottle with narrow top and shake properly.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Shake the medium green bottle after lifting it.", + "Pick the green bottle with indented base up with the left arm and shake.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Pick the medium-sized green bottle, shake it with the left arm.", + "Hold the smooth green bottle with the left arm and shake lightly.", + "Shake the bottle with ridges near base using the left arm after grabbing.", + "Grab the medium-sized green bottle and give it a shake.", + "Lift the handheld green bottle and shake it thoroughly.", + "Grab the bottle with ridges near base and shake it steadily.", + "Shake the bottle with ridges near base after grabbing it.", + "Use the left arm to grab the smooth green bottle and shake it.", + "Grip the medium green bottle using the left arm and shake.", + "Lift the medium green bottle with the left arm and shake it.", + "Secure the smooth green bottle and perform a shake.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Utilize the left arm to hold the bottle with narrow top and shake it.", + "Lift the medium green bottle with the left arm and shake.", + "Hold the smooth green plastic bottle and shake it properly.", + "Lift the handheld green bottle and shake it gently.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Pick up the handheld green bottle and shake it well.", + "Use the left arm to grab the bottle with white printed label and shake properly.", + "Grasp the plastic bottle with the left arm and shake it.", + "Hold the plastic bottle steady, then shake it.", + "Shake the handheld green bottle after grabbing it.", + "Pick the bottle with white printed label and perform shaking motion.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Grab the green bottle with indented base carefully and shake.", + "Pick up the medium green bottle with capped neck and shake it.", + "Catch the smooth green bottle and shake it instantly.", + "Grab and shake the bottle with ridges near base using the left arm.", + "Take the smooth green bottle using the left arm and give it a shake.", + "Grab the smooth green plastic bottle and move it to shake.", + "Lift the smooth green bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the bottle with white printed label firmly after grabbing.", + "Hold the medium-sized green bottle, shake it briefly.", + "Grab the medium-sized green bottle with the left arm and shake.", + "Pick the bottle with ridges near base up using the left arm and shake it.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Lift up the plastic bottle using the left arm, then shake.", + "Using the left arm, shake the smooth green bottle and then place it back.", + "Shake the the bottle with white printed label properly after lifting.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Grab the medium-sized green bottle using the left arm, then shake.", + "Shake the smooth green plastic bottle after grabbing it.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "With the left arm, pick the medium green bottle with capped neck and shake properly.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the smooth green bottle after lifting it.", + "Pick the plastic bottle up with the left arm and shake.", + "Use the left arm to hold the medium green bottle and shake it.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Pick the bottle with narrow top, shake it with the left arm.", + "Hold the bottle with ridges near base with the left arm and shake lightly.", + "Shake the handheld green bottle using the left arm after grabbing.", + "Grab the bottle with ridges near base and give it a shake.", + "Lift the handheld green bottle and shake it thoroughly.", + "Grab the medium-sized green bottle and shake it steadily.", + "Shake the handheld green bottle after grabbing it.", + "Use the left arm to grab the handheld green bottle and shake it.", + "Grip the handheld green bottle using the left arm and shake.", + "Lift the green bottle with indented base with the left arm and shake it.", + "Secure the smooth green bottle and perform a shake.", + "Shake the medium-sized green bottle after holding it firmly.", + "Utilize the left arm to hold the bottle with rounded neck and shake it.", + "Lift the medium green bottle with capped neck with the left arm and shake.", + "Hold the green bottle with indented base and shake it properly.", + "Lift the handheld green bottle and shake it gently.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Pick up the bottle with narrow top and shake it well.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Grasp the green bottle with indented base with the left arm and shake it.", + "Hold the bottle with narrow top steady, then shake it.", + "Shake the bottle with rounded neck after grabbing it.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Hold and shake the the plastic bottle carefully.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Pick up the bottle with narrow top and shake it.", + "Catch the bottle with rounded neck and shake it instantly.", + "Grab and shake the bottle with ridges near base using the left arm.", + "Take the plastic bottle using the left arm and give it a shake.", + "Grab the smooth green plastic bottle and move it to shake.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Shake the medium green bottle firmly after grabbing.", + "Hold the bottle with narrow top, shake it briefly.", + "Grab the medium green bottle with the left arm and shake.", + "Pick the bottle with ridges near base up using the left arm and shake it.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Lift up the medium green bottle with capped neck using the left arm, then shake.", + "Using the left arm, shake the smooth green plastic bottle and then place it back.", + "Shake the the bottle with rounded neck properly after lifting.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Grab the bottle with rounded neck using the left arm, then shake.", + "Shake the smooth green plastic bottle after grabbing it." + ], + "unseen": [ + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode40.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..69cd743baabcfcc3ddf5d2bde2f8132795d0ae1b --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the bottle with narrow top with the right arm and shake it.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Lift the handheld green bottle and shake it gently.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Grip the bottle with rounded neck using the right arm and shake.", + "Grab the bottle with narrow top using the right arm, then shake.", + "Use the right arm to grab the handheld green bottle and shake it.", + "Pick up the medium-sized green bottle and shake it.", + "With the right arm, pick the plastic bottle and shake properly.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Hold the handheld green bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the smooth green bottle.", + "Lift up the bottle with ridges near base using the right arm, then shake.", + "Shake the bottle with ridges near base after grabbing it.", + "Shake the the medium-sized green bottle properly after lifting.", + "Use the right arm to grab the medium-sized green bottle and shake properly.", + "Secure the smooth green bottle and perform a shake.", + "Pick the medium green bottle up using the right arm and shake it.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Grab the green bottle with indented base carefully and shake.", + "Grasp the medium green bottle with the right arm and shake it.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Shake the medium green bottle with capped neck after holding it firmly.", + "Grab the handheld green bottle and move it to shake.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Pick the medium-sized green bottle, shake it with the right arm.", + "Hold the medium-sized green bottle and shake it properly.", + "Utilize the right arm to hold the bottle with white printed label and shake it.", + "Secure the smooth green bottle, shake it, and place it down.", + "Catch the green bottle with indented base and shake it instantly.", + "Lift the medium green bottle with capped neck with the right arm and give it a shake.", + "Grab and shake the plastic bottle using the right arm.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Shake the medium-sized green bottle after lifting it.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Grab the handheld green bottle with the right arm and shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Take the medium green bottle with capped neck using the right arm and give it a shake.", + "Grab the plastic bottle and shake it steadily.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Use the right arm to lift and shake the handheld green bottle.", + "Shake the bottle with rounded neck using the right arm after grabbing.", + "Use the right arm to lift and shake the handheld green bottle.", + "Use the right arm to hold the green bottle with indented base and shake it.", + "Pick up the medium green bottle and shake it well.", + "Pick the medium-sized green bottle up with the right arm and shake.", + "Shake the bottle with white printed label after grabbing it.", + "Use the right arm to pick and shake the medium-sized green bottle.", + "Hold the medium green bottle, shake it briefly.", + "Lift the medium green bottle with the right arm and shake.", + "Lift the bottle with narrow top with the right arm and shake it.", + "Using the right arm, shake the smooth green bottle and then place it back.", + "Lift the bottle with narrow top and shake it gently.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Grip the bottle with narrow top using the right arm and shake.", + "Grab the smooth green plastic bottle using the right arm, then shake.", + "Use the right arm to grab the bottle with white printed label and shake it.", + "Pick up the bottle with ridges near base and shake it.", + "With the right arm, pick the medium green bottle with capped neck and shake properly.", + "Hold the plastic bottle steady, then shake it.", + "Hold the bottle with rounded neck with the right arm and shake lightly.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Lift up the plastic bottle using the right arm, then shake.", + "Shake the green bottle with indented base after grabbing it.", + "Shake the the medium green bottle properly after lifting.", + "Use the right arm to grab the bottle with rounded neck and shake properly.", + "Secure the smooth green plastic bottle and perform a shake.", + "Pick the medium green bottle with capped neck up using the right arm and shake it.", + "Pick the medium green bottle and perform shaking motion.", + "Grab the medium-sized green bottle carefully and shake.", + "Grasp the bottle with ridges near base with the right arm and shake it.", + "Hold and shake the the medium-sized green bottle carefully.", + "Shake the medium-sized green bottle after holding it firmly.", + "Grab the plastic bottle and move it to shake.", + "Grab the plastic bottle and give it a shake.", + "Pick the plastic bottle, shake it with the right arm.", + "Hold the medium-sized green bottle and shake it properly.", + "Utilize the right arm to hold the handheld green bottle and shake it.", + "Secure the smooth green bottle, shake it, and place it down.", + "Catch the bottle with narrow top and shake it instantly.", + "Lift the bottle with narrow top with the right arm and give it a shake.", + "Grab and shake the bottle with ridges near base using the right arm.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Shake the bottle with narrow top after lifting it.", + "Shake the green bottle with indented base firmly after grabbing.", + "Grab the plastic bottle with the right arm and shake.", + "Shake the medium green bottle after grabbing it.", + "Take the green bottle with indented base using the right arm and give it a shake.", + "Grab the medium-sized green bottle and shake it steadily.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Shake the bottle with white printed label using the right arm after grabbing.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Use the right arm to hold the smooth green plastic bottle and shake it.", + "Pick up the medium green bottle and shake it well.", + "Pick the medium green bottle up with the right arm and shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Use the right arm to pick and shake the smooth green plastic bottle.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Lift the smooth green bottle with the right arm and shake." + ], + "unseen": [ + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode41.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..a9529969fb485418ef78edcc9e2139b87135ee8f --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and shake the the dark drink bottle with logo carefully.", + "Hold the narrow-necked bottle and shake it properly.", + "Catch the narrow-necked bottle and shake it instantly.", + "Shake the long thin bottle after grabbing it.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Hold the brown bottle with red label, shake it briefly.", + "Lift the red-capped bottle with the left arm and shake.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Lift the bottle with ridges on bottom with the left arm and shake it.", + "Using the left arm, shake the long thin bottle and then place it back.", + "Use the left arm to grab the red-capped bottle and shake it.", + "Grab the red-capped bottle carefully and shake.", + "Grip the medium dark brown bottle using the left arm and shake.", + "Lift the brown bottle with red label and shake it gently.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Secure the dark drink bottle with logo and perform a shake.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Shake the red-capped bottle after holding it firmly.", + "Grasp the long thin bottle with the left arm and shake it.", + "Use the left arm to pick and shake the brown bottle with red label.", + "Pick the bottle with white neck and red top up with the left arm and shake.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Pick up the smooth bottle with red lid and shake it well.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Grab the brown bottle with red label and give it a shake.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Hold the medium dark brown bottle with the left arm and shake lightly.", + "Use the left arm to hold the red-capped bottle and shake it.", + "Lift up the red-capped bottle using the left arm, then shake.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Shake the Coca-Cola bottle after grabbing it.", + "Shake the narrow-necked bottle after lifting it.", + "Pick the long thin bottle, shake it with the left arm.", + "Grab the red-capped bottle with the left arm and shake.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Grab the bottle with white neck and red top and move it to shake.", + "Use the left arm to grab the plastic drink bottle and shake properly.", + "Pick the long thin bottle up using the left arm and shake it.", + "Take the Coca-Cola bottle using the left arm and give it a shake.", + "Pick up the medium dark brown bottle and shake it.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Shake the smooth bottle with red lid after grabbing it.", + "Hold the red-capped bottle steady, then shake it.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Hold and shake the the plastic drink bottle carefully.", + "Hold the smooth bottle with red lid and shake it properly.", + "Catch the narrow-necked bottle and shake it instantly.", + "Shake the long thin bottle after grabbing it.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Shake the the plastic drink bottle properly after lifting.", + "Utilize the left arm to hold the long thin bottle and shake it.", + "Hold the long thin bottle, shake it briefly.", + "Lift the narrow-necked bottle with the left arm and shake.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Lift the long thin bottle with the left arm and shake it.", + "Using the left arm, shake the long thin bottle and then place it back.", + "Use the left arm to grab the bottle with ridges on bottom and shake it.", + "Grab the dark drink bottle with logo carefully and shake.", + "Grip the medium dark brown bottle using the left arm and shake.", + "Lift the red-capped bottle and shake it gently.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Secure the Coca-Cola bottle and perform a shake.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Shake the plastic drink bottle after holding it firmly.", + "Grasp the bottle with white neck and red top with the left arm and shake it.", + "Use the left arm to pick and shake the Coca-Cola bottle.", + "Pick the dark drink bottle with logo up with the left arm and shake.", + "With the left arm, pick the red-capped bottle and shake properly.", + "Pick up the bottle with white neck and red top and shake it well.", + "Grab the long thin bottle and shake it steadily.", + "Grab the smooth bottle with red lid and give it a shake.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Grab and shake the smooth bottle with red lid using the left arm.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Use the left arm to hold the smooth bottle with red lid and shake it.", + "Lift up the bottle with white neck and red top using the left arm, then shake.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "Shake the narrow-necked bottle after grabbing it.", + "Shake the bottle with ridges on bottom after lifting it.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Grab the plastic drink bottle with the left arm and shake.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Grab the smooth bottle with red lid and move it to shake.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Pick up the narrow-necked bottle and shake it.", + "Grab the hand-sized soda bottle using the left arm, then shake.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Lift the smooth bottle with red lid with the left arm and give it a shake." + ], + "unseen": [ + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode42.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..002662f5836993e2d3c51749c3bdca2990e0063f --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the bottle with ridges on bottom with the right arm and give it a shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Shake the the brown bottle with red label properly after lifting.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Use the right arm to hold the smooth bottle with red lid and shake it.", + "Grab the long thin bottle and move it to shake.", + "Grasp the long thin bottle with the right arm and shake it.", + "Pick up the brown bottle with red label and shake it well.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Hold the hand-sized soda bottle with the right arm and shake lightly.", + "Lift the medium dark brown bottle with the right arm and shake.", + "Use the right arm to pick and shake the smooth bottle with red lid.", + "Pick up the hand-sized soda bottle and shake it.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Lift up the dark drink bottle with logo using the right arm, then shake.", + "Grab the Coca-Cola bottle using the right arm, then shake.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Lift the narrow-necked bottle and shake it gently.", + "Secure the hand-sized soda bottle and perform a shake.", + "Shake the long thin bottle using the right arm after grabbing.", + "Use the right arm to grab the Coca-Cola bottle and shake it.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "With the right arm, pick the narrow-necked bottle and shake properly.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Using the right arm, shake the smooth bottle with red lid and then place it back.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grab the narrow-necked bottle and give it a shake.", + "Grab and shake the red-capped bottle using the right arm.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Grab the bottle with white neck and red top carefully and shake.", + "Grab the long thin bottle and shake it steadily.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Pick the bottle with white neck and red top up with the right arm and shake.", + "Shake the hand-sized soda bottle after lifting it.", + "Pick the long thin bottle, shake it with the right arm.", + "Grip the bottle with ridges on bottom using the right arm and shake.", + "Lift the Coca-Cola bottle with the right arm and shake it.", + "Catch the narrow-necked bottle and shake it instantly.", + "Pick the narrow-necked bottle up using the right arm and shake it.", + "Hold the red-capped bottle and shake it properly.", + "Shake the long thin bottle after grabbing it.", + "Utilize the right arm to hold the hand-sized soda bottle and shake it.", + "Take the hand-sized soda bottle using the right arm and give it a shake.", + "Grab the hand-sized soda bottle with the right arm and shake.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Use the right arm to grab the smooth bottle with red lid and shake properly.", + "Lift the long thin bottle with the right arm and give it a shake.", + "Shake the brown bottle with red label after grabbing it.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Use the right arm to hold the brown bottle with red label and shake it.", + "Grab the Coca-Cola bottle and move it to shake.", + "Grasp the bottle with ridges on bottom with the right arm and shake it.", + "Pick up the Coca-Cola bottle and shake it well.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Hold the bottle with white neck and red top with the right arm and shake lightly.", + "Lift the dark drink bottle with logo with the right arm and shake.", + "Use the right arm to pick and shake the narrow-necked bottle.", + "Pick up the hand-sized soda bottle and shake it.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Lift up the hand-sized soda bottle using the right arm, then shake.", + "Grab the plastic drink bottle using the right arm, then shake.", + "Shake the brown bottle with red label firmly after grabbing.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Lift the narrow-necked bottle and shake it gently.", + "Secure the dark drink bottle with logo and perform a shake.", + "Shake the medium dark brown bottle using the right arm after grabbing.", + "Use the right arm to grab the bottle with ridges on bottom and shake it.", + "Hold the plastic drink bottle steady, then shake it.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "With the right arm, pick the bottle with white neck and red top and shake properly.", + "Use the right arm to lift and shake the long thin bottle.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Using the right arm, shake the hand-sized soda bottle and then place it back.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Grab and shake the red-capped bottle using the right arm.", + "Pick the red-capped bottle and perform shaking motion.", + "Grab the smooth bottle with red lid carefully and shake.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Pick the red-capped bottle up with the right arm and shake.", + "Shake the bottle with white neck and red top after lifting it.", + "Pick the medium dark brown bottle, shake it with the right arm.", + "Grip the hand-sized soda bottle using the right arm and shake.", + "Lift the bottle with white neck and red top with the right arm and shake it.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Pick the smooth bottle with red lid up using the right arm and shake it.", + "Hold the bottle with white neck and red top and shake it properly.", + "Shake the smooth bottle with red lid after grabbing it.", + "Utilize the right arm to hold the narrow-necked bottle and shake it.", + "Take the smooth bottle with red lid using the right arm and give it a shake.", + "Grab the brown bottle with red label with the right arm and shake.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Use the right arm to grab the red-capped bottle and shake properly." + ], + "unseen": [ + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode43.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..ec2ff829883cfe8670c6f48f73b408c5cfb62e98 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and shake the red-capped bottle using the left arm.", + "Shake the narrow-necked bottle after grabbing it.", + "Use the left arm to grab the red-capped bottle and shake properly.", + "Grasp the smooth bottle with red lid with the left arm and shake it.", + "Lift up the hand-sized soda bottle using the left arm, then shake.", + "Secure the dark drink bottle with logo and perform a shake.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Hold the narrow-necked bottle, shake it briefly.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Hold the brown bottle with red label steady, then shake it.", + "Take the long thin bottle using the left arm and give it a shake.", + "Pick up the red-capped bottle and shake it.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Grip the Coca-Cola bottle using the left arm and shake.", + "Shake the smooth bottle with red lid after lifting it.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Pick up the dark drink bottle with logo and shake it well.", + "Using the left arm, shake the narrow-necked bottle and then place it back.", + "Hold the long thin bottle and shake it properly.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Lift the bottle with ridges on bottom with the left arm and shake it.", + "Hold and shake the the red-capped bottle carefully.", + "Pick the smooth bottle with red lid up with the left arm and shake.", + "Grab the narrow-necked bottle and shake it steadily.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Grab the narrow-necked bottle with the left arm and shake.", + "Use the left arm to pick and shake the brown bottle with red label.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Pick the long thin bottle and perform shaking motion.", + "Utilize the left arm to hold the narrow-necked bottle and shake it.", + "Grab the bottle with white neck and red top and move it to shake.", + "Lift the medium dark brown bottle and shake it gently.", + "Use the left arm to hold the medium dark brown bottle and shake it.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Use the left arm to grab the brown bottle with red label and shake it.", + "Grab the dark drink bottle with logo and give it a shake.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Secure the long thin bottle, shake it, and place it down.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Grab the brown bottle with red label carefully and shake.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Grasp the bottle with ridges on bottom with the left arm and shake it.", + "Lift up the Coca-Cola bottle using the left arm, then shake.", + "Secure the plastic drink bottle and perform a shake.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Shake the brown bottle with red label after grabbing it.", + "Hold the red-capped bottle, shake it briefly.", + "Pick the long thin bottle, shake it with the left arm.", + "Hold the plastic drink bottle steady, then shake it.", + "Take the bottle with white neck and red top using the left arm and give it a shake.", + "Pick up the plastic drink bottle and shake it.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Pick the plastic drink bottle up using the left arm and shake it.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Grip the red-capped bottle using the left arm and shake.", + "Shake the plastic drink bottle after lifting it.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Pick up the Coca-Cola bottle and shake it well.", + "Using the left arm, shake the dark drink bottle with logo and then place it back.", + "Hold the hand-sized soda bottle and shake it properly.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Hold and shake the the long thin bottle carefully.", + "Pick the brown bottle with red label up with the left arm and shake.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Grab the Coca-Cola bottle with the left arm and shake.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Grab the plastic drink bottle using the left arm, then shake.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Shake the smooth bottle with red lid using the left arm after grabbing.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Utilize the left arm to hold the dark drink bottle with logo and shake it.", + "Grab the dark drink bottle with logo and move it to shake.", + "Lift the medium dark brown bottle and shake it gently.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Use the left arm to grab the plastic drink bottle and shake it.", + "Grab the dark drink bottle with logo and give it a shake.", + "With the left arm, pick the medium dark brown bottle and shake properly.", + "Secure the red-capped bottle, shake it, and place it down.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Shake the bottle with white neck and red top after grabbing it.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Grab the bottle with white neck and red top carefully and shake." + ], + "unseen": [ + "Use the left arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode44.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..67724edf23f8b3c3e21ed4b13717d2c14ea4b115 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the Coca-Cola bottle with the left arm and shake it.", + "Take the Coca-Cola bottle using the left arm and give it a shake.", + "Shake the brown bottle with red label after grabbing it.", + "Grab the hand-sized soda bottle with the left arm and shake.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Grip the bottle with white neck and red top using the left arm and shake.", + "Lift the red-capped bottle with the left arm and shake.", + "Shake the red-capped bottle using the left arm after grabbing.", + "With the left arm, pick the red-capped bottle and shake properly.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Use the left arm to hold the hand-sized soda bottle and shake it.", + "Grab the bottle with white neck and red top using the left arm, then shake.", + "Pick up the bottle with ridges on bottom and shake it.", + "Using the left arm, shake the red-capped bottle and then place it back.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Hold the narrow-necked bottle and shake it properly.", + "Shake the narrow-necked bottle after grabbing it.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Shake the medium dark brown bottle after holding it firmly.", + "Shake the medium dark brown bottle after lifting it.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Lift the brown bottle with red label with the left arm and give it a shake.", + "Use the left arm to pick and shake the brown bottle with red label.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Lift the brown bottle with red label and shake it gently.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Lift up the brown bottle with red label using the left arm, then shake.", + "Shake the red-capped bottle firmly after grabbing.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Grab the dark drink bottle with logo and give it a shake.", + "Pick up the brown bottle with red label and shake it well.", + "Secure the dark drink bottle with logo and perform a shake.", + "Grab the brown bottle with red label carefully and shake.", + "Use the left arm to grab the long thin bottle and shake properly.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Grab the Coca-Cola bottle and move it to shake.", + "Pick the smooth bottle with red lid up with the left arm and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Hold the narrow-necked bottle with the left arm and shake lightly.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Pick the plastic drink bottle up using the left arm and shake it.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Grab and shake the brown bottle with red label using the left arm.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Take the plastic drink bottle using the left arm and give it a shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Grab the Coca-Cola bottle with the left arm and shake.", + "Utilize the left arm to hold the plastic drink bottle and shake it.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Lift the bottle with white neck and red top with the left arm and shake.", + "Shake the long thin bottle using the left arm after grabbing.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Use the left arm to hold the smooth bottle with red lid and shake it.", + "Grab the long thin bottle using the left arm, then shake.", + "Pick up the Coca-Cola bottle and shake it.", + "Using the left arm, shake the bottle with ridges on bottom and then place it back.", + "Hold the narrow-necked bottle, shake it briefly.", + "Hold the Coca-Cola bottle and shake it properly.", + "Shake the long thin bottle after grabbing it.", + "Grasp the bottle with white neck and red top with the left arm and shake it.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Shake the bottle with white neck and red top after lifting it.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Lift the dark drink bottle with logo with the left arm and give it a shake.", + "Use the left arm to pick and shake the hand-sized soda bottle.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Lift the long thin bottle and shake it gently.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Lift up the dark drink bottle with logo using the left arm, then shake.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Lift the red-capped bottle and shake it thoroughly.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Grab the medium dark brown bottle and give it a shake.", + "Pick up the Coca-Cola bottle and shake it well.", + "Secure the brown bottle with red label and perform a shake.", + "Grab the long thin bottle carefully and shake.", + "Use the left arm to grab the brown bottle with red label and shake properly.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Grab the Coca-Cola bottle and move it to shake.", + "Pick the long thin bottle up with the left arm and shake.", + "Shake the red-capped bottle after grabbing it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Use the left arm to grab the plastic drink bottle and shake it.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Pick the long thin bottle up using the left arm and shake it.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Pick the smooth bottle with red lid, shake it with the left arm.", + "Grab and shake the bottle with ridges on bottom using the left arm." + ], + "unseen": [ + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode45.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..345296950f72f9bc4a0f6e193adfad959aef579a --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the medium green bottle steady, then shake it.", + "Pick the medium-sized green bottle, shake it with the right arm.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Shake the handheld green bottle after grabbing it.", + "Lift the bottle with ridges near base and shake it gently.", + "Grab and shake the smooth green bottle using the right arm.", + "Lift the plastic bottle with the right arm and shake.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Lift the plastic bottle and shake it thoroughly.", + "Shake the green bottle with indented base after grabbing it.", + "Lift up the medium-sized green bottle using the right arm, then shake.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Shake the handheld green bottle after grabbing it.", + "Shake the the smooth green bottle properly after lifting.", + "Grasp the bottle with white printed label with the right arm and shake it.", + "Grab the bottle with ridges near base carefully and shake.", + "Use the right arm to pick and shake the medium green bottle.", + "Pick the bottle with rounded neck up using the right arm and shake it.", + "Grip the bottle with ridges near base using the right arm and shake.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Pick up the plastic bottle and shake it.", + "Grab the smooth green bottle using the right arm, then shake.", + "Hold the bottle with ridges near base with the right arm and shake lightly.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Hold and shake the the handheld green bottle carefully.", + "Shake the plastic bottle after lifting it.", + "Secure the bottle with white printed label and perform a shake.", + "Grab the smooth green plastic bottle and give it a shake.", + "Utilize the right arm to hold the medium green bottle and shake it.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "Use the right arm to lift and shake the plastic bottle.", + "Use the right arm to hold the medium green bottle and shake it.", + "Hold the bottle with white printed label and shake it properly.", + "Using the right arm, shake the medium green bottle with capped neck and then place it back.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Shake the handheld green bottle using the right arm after grabbing.", + "Pick the medium green bottle with capped neck up with the right arm and shake.", + "Hold the bottle with ridges near base, shake it briefly.", + "Shake the medium green bottle after holding it firmly.", + "Grab the bottle with ridges near base with the right arm and shake.", + "Lift the green bottle with indented base with the right arm and give it a shake.", + "Use the right arm to grab the plastic bottle and shake properly.", + "With the right arm, pick the plastic bottle and shake properly.", + "Lift the green bottle with indented base with the right arm and shake it.", + "Pick up the plastic bottle and shake it well.", + "Take the bottle with rounded neck using the right arm and give it a shake.", + "Catch the medium-sized green bottle and shake it instantly.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Hold the green bottle with indented base steady, then shake it.", + "Pick the green bottle with indented base, shake it with the right arm.", + "Shake the bottle with white printed label firmly after grabbing.", + "Shake the smooth green plastic bottle after grabbing it.", + "Lift the bottle with narrow top and shake it gently.", + "Grab and shake the bottle with rounded neck using the right arm.", + "Lift the medium green bottle with the right arm and shake.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Shake the bottle with white printed label after grabbing it.", + "Lift up the handheld green bottle using the right arm, then shake.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Shake the handheld green bottle after grabbing it.", + "Shake the the handheld green bottle properly after lifting.", + "Grasp the medium-sized green bottle with the right arm and shake it.", + "Grab the plastic bottle carefully and shake.", + "Use the right arm to pick and shake the bottle with white printed label.", + "Pick the plastic bottle up using the right arm and shake it.", + "Grip the smooth green plastic bottle using the right arm and shake.", + "Grab the medium green bottle and shake it steadily.", + "Pick up the bottle with ridges near base and shake it.", + "Grab the bottle with rounded neck using the right arm, then shake.", + "Hold the smooth green bottle with the right arm and shake lightly.", + "Grab the bottle with white printed label and move it to shake.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Shake the medium green bottle after lifting it.", + "Secure the green bottle with indented base and perform a shake.", + "Grab the bottle with rounded neck and give it a shake.", + "Utilize the right arm to hold the handheld green bottle and shake it.", + "Use the right arm to grab the smooth green plastic bottle and shake it.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Use the right arm to hold the bottle with rounded neck and shake it.", + "Hold the smooth green plastic bottle and shake it properly.", + "Using the right arm, shake the smooth green bottle and then place it back.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Shake the bottle with white printed label using the right arm after grabbing.", + "Pick the bottle with white printed label up with the right arm and shake.", + "Hold the plastic bottle, shake it briefly.", + "Shake the bottle with white printed label after holding it firmly.", + "Grab the medium-sized green bottle with the right arm and shake.", + "Lift the bottle with rounded neck with the right arm and give it a shake.", + "Use the right arm to grab the smooth green bottle and shake properly.", + "With the right arm, pick the bottle with ridges near base and shake properly.", + "Lift the smooth green plastic bottle with the right arm and shake it.", + "Pick up the smooth green plastic bottle and shake it well.", + "Take the smooth green plastic bottle using the right arm and give it a shake.", + "Catch the plastic bottle and shake it instantly.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Grab the medium green bottle firmly, shake it, and put it down." + ], + "unseen": [ + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode46.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..2db84a9076122d14105f17ea3f7aecd196194108 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the brown bottle with red label with the left arm and shake lightly.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Take the dark drink bottle with logo using the left arm and give it a shake.", + "Use the left arm to hold the hand-sized soda bottle and shake it.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Grab the Coca-Cola bottle and move it to shake.", + "Pick the medium dark brown bottle up using the left arm and shake it.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Grab the bottle with ridges on bottom using the left arm, then shake.", + "Hold the red-capped bottle, shake it briefly.", + "Hold the smooth bottle with red lid and shake it properly.", + "Lift the long thin bottle and shake it thoroughly.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Shake the dark drink bottle with logo after lifting it.", + "Shake the brown bottle with red label firmly after grabbing.", + "Shake the plastic drink bottle after grabbing it.", + "Shake the plastic drink bottle after holding it firmly.", + "Grab the medium dark brown bottle and give it a shake.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Shake the brown bottle with red label using the left arm after grabbing.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Grab the Coca-Cola bottle with the left arm and shake.", + "Pick the bottle with ridges on bottom, shake it with the left arm.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Use the left arm to pick and shake the red-capped bottle.", + "Lift the bottle with white neck and red top and shake it gently.", + "Pick up the plastic drink bottle and shake it well.", + "Using the left arm, shake the dark drink bottle with logo and then place it back.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Lift the long thin bottle with the left arm and give it a shake.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Pick up the plastic drink bottle and shake it.", + "Secure the brown bottle with red label and perform a shake.", + "Lift up the red-capped bottle using the left arm, then shake.", + "Lift the long thin bottle with the left arm and shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Pick the long thin bottle up with the left arm and shake.", + "Hold and shake the the long thin bottle carefully.", + "Grab the narrow-necked bottle and shake it steadily.", + "Grab the Coca-Cola bottle carefully and shake.", + "With the left arm, pick the medium dark brown bottle and shake properly.", + "Shake the red-capped bottle after grabbing it.", + "Grab and shake the brown bottle with red label using the left arm.", + "Use the left arm to grab the red-capped bottle and shake it.", + "Hold the narrow-necked bottle with the left arm and shake lightly.", + "Grip the medium dark brown bottle using the left arm and shake.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Use the left arm to hold the bottle with white neck and red top and shake it.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Grab the brown bottle with red label and move it to shake.", + "Pick the red-capped bottle up using the left arm and shake it.", + "Pick the plastic drink bottle and perform shaking motion.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Hold the medium dark brown bottle, shake it briefly.", + "Hold the smooth bottle with red lid and shake it properly.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Shake the brown bottle with red label after lifting it.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Shake the dark drink bottle with logo after grabbing it.", + "Shake the plastic drink bottle after holding it firmly.", + "Grab the dark drink bottle with logo and give it a shake.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Grab the plastic drink bottle with the left arm and shake.", + "Pick the bottle with white neck and red top, shake it with the left arm.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Catch the plastic drink bottle and shake it instantly.", + "Use the left arm to pick and shake the red-capped bottle.", + "Lift the red-capped bottle and shake it gently.", + "Pick up the red-capped bottle and shake it well.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Lift the bottle with ridges on bottom with the left arm and give it a shake.", + "Use the left arm to grab the bottle with ridges on bottom and shake properly.", + "Use the left arm to lift and shake the long thin bottle.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Grasp the Coca-Cola bottle with the left arm and shake it.", + "Pick up the smooth bottle with red lid and shake it.", + "Secure the dark drink bottle with logo and perform a shake.", + "Lift up the bottle with ridges on bottom using the left arm, then shake.", + "Lift the narrow-necked bottle with the left arm and shake.", + "Shake the brown bottle with red label after grabbing it.", + "Pick the red-capped bottle up with the left arm and shake.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Grab the medium dark brown bottle and shake it steadily.", + "Grab the Coca-Cola bottle carefully and shake.", + "With the left arm, pick the medium dark brown bottle and shake properly.", + "Shake the smooth bottle with red lid after grabbing it.", + "Grab and shake the bottle with white neck and red top using the left arm.", + "Use the left arm to grab the hand-sized soda bottle and shake it." + ], + "unseen": [ + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode47.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..e2bbeb8f424841fc230f6bf19565f01e844874c0 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the bottle with narrow top and shake it.", + "Grab the green bottle with indented base using the right arm, then shake.", + "Hold the green bottle with indented base steady, then shake it.", + "Lift the medium green bottle with capped neck with the right arm and shake.", + "Utilize the right arm to hold the medium green bottle and shake it.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Shake the plastic bottle firmly after grabbing.", + "Shake the plastic bottle after grabbing it.", + "Lift up the medium green bottle using the right arm, then shake.", + "Pick the medium green bottle, shake it with the right arm.", + "Grab the green bottle with indented base and give it a shake.", + "Lift the handheld green bottle and shake it thoroughly.", + "Shake the medium green bottle using the right arm after grabbing.", + "Lift the bottle with ridges near base and shake it gently.", + "Hold and shake the the medium green bottle carefully.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Shake the green bottle with indented base after grabbing it.", + "Pick the handheld green bottle up with the right arm and shake.", + "Use the right arm to hold the bottle with rounded neck and shake it.", + "Grab the green bottle with indented base with the right arm and shake.", + "Hold the smooth green bottle and shake it properly.", + "Grab and shake the smooth green bottle using the right arm.", + "Secure the bottle with ridges near base and perform a shake.", + "Use the right arm to lift and shake the medium green bottle.", + "Use the right arm to pick and shake the plastic bottle.", + "Lift the bottle with white printed label with the right arm and shake it.", + "Grab the bottle with narrow top and move it to shake.", + "Pick up the smooth green plastic bottle and shake it well.", + "Use the right arm to lift and shake the smooth green bottle.", + "Take the medium green bottle with capped neck using the right arm and give it a shake.", + "Shake the medium green bottle after grabbing it.", + "Lift the bottle with white printed label with the right arm and give it a shake.", + "Shake the the medium green bottle properly after lifting.", + "Shake the handheld green bottle after holding it firmly.", + "Grab the green bottle with indented base carefully and shake.", + "Pick the medium green bottle with capped neck up using the right arm and shake it.", + "With the right arm, pick the medium green bottle and shake properly.", + "Using the right arm, shake the medium green bottle with capped neck and then place it back.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Grasp the green bottle with indented base with the right arm and shake it.", + "Shake the green bottle with indented base after lifting it.", + "Grip the medium-sized green bottle using the right arm and shake.", + "Hold the medium-sized green bottle, shake it briefly.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Use the right arm to grab the smooth green plastic bottle and shake properly.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Grab the bottle with ridges near base and shake it steadily.", + "Pick up the medium-sized green bottle and shake it.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Use the right arm to grab the green bottle with indented base and shake it.", + "Grab the bottle with ridges near base using the right arm, then shake.", + "Hold the bottle with ridges near base steady, then shake it.", + "Lift the medium green bottle with the right arm and shake.", + "Utilize the right arm to hold the bottle with ridges near base and shake it.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Shake the medium green bottle firmly after grabbing.", + "Shake the plastic bottle after grabbing it.", + "Lift up the bottle with white printed label using the right arm, then shake.", + "Pick the medium green bottle, shake it with the right arm.", + "Grab the green bottle with indented base and give it a shake.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Shake the medium green bottle with capped neck using the right arm after grabbing.", + "Lift the bottle with rounded neck and shake it gently.", + "Hold and shake the the bottle with white printed label carefully.", + "Pick the handheld green bottle and perform shaking motion.", + "Shake the bottle with narrow top after grabbing it.", + "Pick the bottle with ridges near base up with the right arm and shake.", + "Use the right arm to hold the smooth green plastic bottle and shake it.", + "Grab the smooth green plastic bottle with the right arm and shake.", + "Hold the bottle with ridges near base and shake it properly.", + "Grab and shake the bottle with white printed label using the right arm.", + "Secure the medium green bottle and perform a shake.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Use the right arm to pick and shake the medium green bottle with capped neck.", + "Lift the handheld green bottle with the right arm and shake it.", + "Grab the bottle with ridges near base and move it to shake.", + "Pick up the bottle with ridges near base and shake it well.", + "Use the right arm to lift and shake the medium green bottle.", + "Take the medium green bottle using the right arm and give it a shake.", + "Shake the plastic bottle after grabbing it.", + "Lift the handheld green bottle with the right arm and give it a shake.", + "Shake the the medium green bottle properly after lifting.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Grab the plastic bottle carefully and shake.", + "Pick the bottle with narrow top up using the right arm and shake it.", + "With the right arm, pick the bottle with narrow top and shake properly.", + "Using the right arm, shake the handheld green bottle and then place it back.", + "Catch the green bottle with indented base and shake it instantly.", + "Grasp the bottle with narrow top with the right arm and shake it.", + "Shake the bottle with ridges near base after lifting it.", + "Grip the handheld green bottle using the right arm and shake.", + "Hold the bottle with narrow top, shake it briefly.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Use the right arm to grab the bottle with rounded neck and shake properly.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Grab the medium green bottle and shake it steadily.", + "Pick up the plastic bottle and shake it.", + "Hold the medium green bottle with the right arm and shake lightly.", + "Secure the smooth green bottle, shake it, and place it down." + ], + "unseen": [ + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode48.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..e1e481adcd21d733a7f14dc961eea32f86306a82 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the hand-sized soda bottle up using the right arm and shake it.", + "Grasp the red-capped bottle with the right arm and shake it.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Grab the long thin bottle carefully and shake.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Pick the bottle with white neck and red top up with the right arm and shake.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Hold and shake the the medium dark brown bottle carefully.", + "Shake the bottle with white neck and red top after grabbing it.", + "Grab the hand-sized soda bottle and move it to shake.", + "Shake the plastic drink bottle after holding it firmly.", + "Use the right arm to hold the smooth bottle with red lid and shake it.", + "Grab the medium dark brown bottle using the right arm, then shake.", + "Pick the red-capped bottle, shake it with the right arm.", + "Grab the red-capped bottle and give it a shake.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Hold the narrow-necked bottle steady, then shake it.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Pick up the Coca-Cola bottle and shake it.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Grab the smooth bottle with red lid with the right arm and shake.", + "Hold the narrow-necked bottle and shake it properly.", + "Catch the red-capped bottle and shake it instantly.", + "Shake the brown bottle with red label after grabbing it.", + "Use the right arm to grab the dark drink bottle with logo and shake properly.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Lift the hand-sized soda bottle with the right arm and shake.", + "With the right arm, pick the medium dark brown bottle and shake properly.", + "Use the right arm to pick and shake the narrow-necked bottle.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Using the right arm, shake the red-capped bottle and then place it back.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Grab the red-capped bottle and shake it steadily.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Lift the brown bottle with red label with the right arm and give it a shake.", + "Lift the red-capped bottle with the right arm and shake it.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Lift up the plastic drink bottle using the right arm, then shake.", + "Lift the narrow-necked bottle and shake it gently.", + "Hold the smooth bottle with red lid with the right arm and shake lightly.", + "Shake the long thin bottle using the right arm after grabbing.", + "Use the right arm to grab the hand-sized soda bottle and shake it.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Pick up the dark drink bottle with logo and shake it well.", + "Shake the bottle with ridges on bottom after lifting it.", + "Take the narrow-necked bottle using the right arm and give it a shake.", + "Grab and shake the medium dark brown bottle using the right arm.", + "Pick the smooth bottle with red lid up using the right arm and shake it.", + "Grasp the medium dark brown bottle with the right arm and shake it.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Grab the plastic drink bottle carefully and shake.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Pick the hand-sized soda bottle up with the right arm and shake.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Hold and shake the the red-capped bottle carefully.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Grab the medium dark brown bottle and move it to shake.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Use the right arm to hold the red-capped bottle and shake it.", + "Grab the brown bottle with red label using the right arm, then shake.", + "Pick the red-capped bottle, shake it with the right arm.", + "Grab the brown bottle with red label and give it a shake.", + "Utilize the right arm to hold the hand-sized soda bottle and shake it.", + "Hold the plastic drink bottle steady, then shake it.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Pick up the Coca-Cola bottle and shake it.", + "Shake the the narrow-necked bottle properly after lifting.", + "Grab the red-capped bottle with the right arm and shake.", + "Hold the bottle with white neck and red top and shake it properly.", + "Catch the brown bottle with red label and shake it instantly.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Use the right arm to grab the smooth bottle with red lid and shake properly.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Lift the Coca-Cola bottle with the right arm and shake.", + "With the right arm, pick the smooth bottle with red lid and shake properly.", + "Use the right arm to pick and shake the dark drink bottle with logo.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Using the right arm, shake the Coca-Cola bottle and then place it back.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Lift the bottle with ridges on bottom with the right arm and give it a shake.", + "Lift the dark drink bottle with logo with the right arm and shake it.", + "Secure the hand-sized soda bottle and perform a shake.", + "Shake the red-capped bottle after grabbing it.", + "Lift up the hand-sized soda bottle using the right arm, then shake.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Hold the Coca-Cola bottle with the right arm and shake lightly.", + "Shake the plastic drink bottle using the right arm after grabbing.", + "Use the right arm to grab the brown bottle with red label and shake it.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Pick up the bottle with white neck and red top and shake it well.", + "Shake the hand-sized soda bottle after lifting it.", + "Take the narrow-necked bottle using the right arm and give it a shake.", + "Grab and shake the plastic drink bottle using the right arm." + ], + "unseen": [ + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode49.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..38b2517f1cddf1e126f81fd06d4f2c36b98dc82e --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the hand-sized soda bottle after holding it firmly.", + "Using the right arm, shake the narrow-necked bottle and then place it back.", + "Pick the long thin bottle and perform shaking motion.", + "Hold the Coca-Cola bottle with the right arm and shake lightly.", + "Use the right arm to hold the dark drink bottle with logo and shake it.", + "Utilize the right arm to hold the plastic drink bottle and shake it.", + "Grip the dark drink bottle with logo using the right arm and shake.", + "Use the right arm to grab the bottle with ridges on bottom and shake it.", + "Take the bottle with white neck and red top using the right arm and give it a shake.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Hold the brown bottle with red label steady, then shake it.", + "Pick the smooth bottle with red lid up with the right arm and shake.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Shake the dark drink bottle with logo using the right arm after grabbing.", + "Shake the plastic drink bottle after grabbing it.", + "Use the right arm to pick and shake the medium dark brown bottle.", + "Grab the brown bottle with red label and shake it steadily.", + "Grab the dark drink bottle with logo using the right arm, then shake.", + "Hold the brown bottle with red label, shake it briefly.", + "Lift the plastic drink bottle with the right arm and shake.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Shake the dark drink bottle with logo after grabbing it.", + "Shake the red-capped bottle after lifting it.", + "Lift the narrow-necked bottle and shake it gently.", + "Lift the long thin bottle with the right arm and shake it.", + "Grab the long thin bottle and give it a shake.", + "Shake the brown bottle with red label after grabbing it.", + "Pick the Coca-Cola bottle up using the right arm and shake it.", + "Grab and shake the red-capped bottle using the right arm.", + "Catch the medium dark brown bottle and shake it instantly.", + "Shake the plastic drink bottle firmly after grabbing.", + "Secure the bottle with white neck and red top and perform a shake.", + "Hold and shake the the brown bottle with red label carefully.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Pick the bottle with ridges on bottom, shake it with the right arm.", + "Grab the medium dark brown bottle carefully and shake.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Grab the bottle with ridges on bottom with the right arm and shake.", + "Lift the smooth bottle with red lid with the right arm and give it a shake.", + "With the right arm, pick the plastic drink bottle and shake properly.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Grasp the hand-sized soda bottle with the right arm and shake it.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Use the right arm to grab the narrow-necked bottle and shake properly.", + "Lift up the brown bottle with red label using the right arm, then shake.", + "Hold the medium dark brown bottle and shake it properly.", + "Pick up the smooth bottle with red lid and shake it.", + "Grab the narrow-necked bottle and move it to shake.", + "Shake the plastic drink bottle after holding it firmly.", + "Using the right arm, shake the red-capped bottle and then place it back.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Hold the long thin bottle with the right arm and shake lightly.", + "Use the right arm to hold the hand-sized soda bottle and shake it.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Grip the plastic drink bottle using the right arm and shake.", + "Use the right arm to grab the Coca-Cola bottle and shake it.", + "Take the bottle with white neck and red top using the right arm and give it a shake.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Pick the brown bottle with red label up with the right arm and shake.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Shake the red-capped bottle using the right arm after grabbing.", + "Shake the long thin bottle after grabbing it.", + "Use the right arm to pick and shake the plastic drink bottle.", + "Grab the long thin bottle and shake it steadily.", + "Grab the bottle with white neck and red top using the right arm, then shake.", + "Hold the brown bottle with red label, shake it briefly.", + "Lift the red-capped bottle with the right arm and shake.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the bottle with ridges on bottom after lifting it.", + "Lift the Coca-Cola bottle and shake it gently.", + "Lift the bottle with ridges on bottom with the right arm and shake it.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Shake the plastic drink bottle after grabbing it.", + "Pick the smooth bottle with red lid up using the right arm and shake it.", + "Grab and shake the smooth bottle with red lid using the right arm.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Secure the medium dark brown bottle and perform a shake.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Pick the bottle with white neck and red top, shake it with the right arm.", + "Grab the smooth bottle with red lid carefully and shake.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Grab the bottle with ridges on bottom with the right arm and shake.", + "Lift the smooth bottle with red lid with the right arm and give it a shake.", + "With the right arm, pick the brown bottle with red label and shake properly.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Grasp the brown bottle with red label with the right arm and shake it.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Pick up the plastic drink bottle and shake it well.", + "Use the right arm to grab the medium dark brown bottle and shake properly.", + "Lift up the narrow-necked bottle using the right arm, then shake.", + "Hold the smooth bottle with red lid and shake it properly.", + "Pick up the narrow-necked bottle and shake it.", + "Grab the brown bottle with red label and move it to shake." + ], + "unseen": [ + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode5.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..f868a34cb64918a1c30d57427c39fe6a1ea50ffa --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Utilize the left arm to hold the bottle with white printed label and shake it.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Lift the smooth green bottle and shake it thoroughly.", + "Hold the bottle with ridges near base and shake it properly.", + "Shake the medium green bottle after lifting it.", + "Secure the green bottle with indented base and perform a shake.", + "Hold the bottle with narrow top with the left arm and shake lightly.", + "With the left arm, pick the green bottle with indented base and shake properly.", + "Using the left arm, shake the smooth green plastic bottle and then place it back.", + "Shake the plastic bottle after grabbing it.", + "Shake the plastic bottle using the left arm after grabbing.", + "Shake the medium green bottle firmly after grabbing.", + "Grab the plastic bottle and give it a shake.", + "Grab the bottle with white printed label with the left arm and shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Shake the handheld green bottle after grabbing it.", + "Pick the bottle with narrow top up with the left arm and shake.", + "Hold the handheld green bottle, shake it briefly.", + "Pick the medium green bottle and perform shaking motion.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Catch the plastic bottle and shake it instantly.", + "Use the left arm to pick and shake the green bottle with indented base.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Lift up the bottle with ridges near base using the left arm, then shake.", + "Grab and shake the handheld green bottle using the left arm.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Pick up the medium-sized green bottle and shake it.", + "Take the smooth green bottle using the left arm and give it a shake.", + "Shake the medium green bottle with capped neck after holding it firmly.", + "Lift the bottle with ridges near base with the left arm and shake it.", + "Grab the medium-sized green bottle carefully and shake.", + "Hold and shake the the medium-sized green bottle carefully.", + "Grasp the medium green bottle with the left arm and shake it.", + "Pick the bottle with ridges near base, shake it with the left arm.", + "Grab the bottle with white printed label and move it to shake.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Lift the green bottle with indented base with the left arm and shake.", + "Pick the smooth green bottle up using the left arm and shake it.", + "Use the left arm to grab the smooth green plastic bottle and shake it.", + "Grab the medium-sized green bottle and shake it steadily.", + "Pick up the bottle with narrow top and shake it well.", + "Use the left arm to grab the smooth green bottle and shake properly.", + "Shake the the smooth green bottle properly after lifting.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Grip the bottle with ridges near base using the left arm and shake.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Lift the plastic bottle and shake it gently.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Utilize the left arm to hold the bottle with white printed label and shake it.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Lift the plastic bottle and shake it thoroughly.", + "Hold the bottle with ridges near base and shake it properly.", + "Shake the handheld green bottle after lifting it.", + "Secure the bottle with narrow top and perform a shake.", + "Hold the bottle with ridges near base with the left arm and shake lightly.", + "With the left arm, pick the medium green bottle with capped neck and shake properly.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Shake the medium green bottle after grabbing it.", + "Shake the bottle with ridges near base using the left arm after grabbing.", + "Shake the plastic bottle firmly after grabbing.", + "Grab the bottle with ridges near base and give it a shake.", + "Grab the bottle with narrow top with the left arm and shake.", + "Shake the green bottle with indented base after grabbing it.", + "Shake the smooth green bottle after grabbing it.", + "Pick the smooth green bottle up with the left arm and shake.", + "Hold the green bottle with indented base, shake it briefly.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Catch the bottle with rounded neck and shake it instantly.", + "Use the left arm to pick and shake the plastic bottle.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Lift up the plastic bottle using the left arm, then shake.", + "Grab and shake the smooth green bottle using the left arm.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Pick up the bottle with white printed label and shake it.", + "Take the bottle with rounded neck using the left arm and give it a shake.", + "Shake the smooth green bottle after holding it firmly.", + "Lift the green bottle with indented base with the left arm and shake it.", + "Grab the bottle with narrow top carefully and shake.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Grasp the bottle with rounded neck with the left arm and shake it.", + "Pick the medium green bottle, shake it with the left arm.", + "Grab the smooth green plastic bottle and move it to shake.", + "Use the left arm to hold the smooth green plastic bottle and shake it.", + "Grab the medium-sized green bottle using the left arm, then shake.", + "Lift the handheld green bottle with the left arm and shake.", + "Pick the smooth green bottle up using the left arm and shake it.", + "Use the left arm to grab the bottle with narrow top and shake it.", + "Grab the bottle with narrow top and shake it steadily.", + "Pick up the medium-sized green bottle and shake it well.", + "Use the left arm to grab the bottle with ridges near base and shake properly.", + "Shake the the medium-sized green bottle properly after lifting.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Grip the medium green bottle with capped neck using the left arm and shake.", + "Lift the medium-sized green bottle with the left arm and give it a shake.", + "Lift the bottle with white printed label and shake it gently." + ], + "unseen": [ + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode50.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode50.json new file mode 100644 index 0000000000000000000000000000000000000000..4b08545d74ca1151ab24f5021543c18f401d9fd2 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode50.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the handheld green bottle after grabbing it.", + "Take the medium-sized green bottle using the right arm and give it a shake.", + "Pick up the bottle with narrow top and shake it well.", + "Hold the bottle with ridges near base, shake it briefly.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Lift the handheld green bottle and shake it thoroughly.", + "Use the right arm to hold the smooth green bottle and shake it.", + "Grab the bottle with narrow top and give it a shake.", + "Use the right arm to pick and shake the bottle with ridges near base.", + "Using the right arm, shake the bottle with rounded neck and then place it back.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Grab and shake the medium green bottle with capped neck using the right arm.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Hold and shake the the medium-sized green bottle carefully.", + "Hold the bottle with white printed label with the right arm and shake lightly.", + "Shake the green bottle with indented base after grabbing it.", + "Grab the bottle with narrow top using the right arm, then shake.", + "Hold the handheld green bottle and shake it properly.", + "Secure the bottle with white printed label and perform a shake.", + "Grab the smooth green bottle carefully and shake.", + "Lift up the plastic bottle using the right arm, then shake.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Grip the handheld green bottle using the right arm and shake.", + "Grab the bottle with white printed label and shake it steadily.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Shake the smooth green plastic bottle using the right arm after grabbing.", + "Grab the bottle with white printed label with the right arm and shake.", + "Grasp the medium green bottle with the right arm and shake it.", + "Pick up the medium green bottle and shake it.", + "Shake the smooth green plastic bottle after lifting it.", + "Lift the bottle with rounded neck and shake it gently.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Shake the bottle with narrow top after holding it firmly.", + "Grab the handheld green bottle and move it to shake.", + "Pick the smooth green bottle up using the right arm and shake it.", + "Lift the handheld green bottle with the right arm and shake it.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Pick the medium green bottle with capped neck, shake it with the right arm.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Catch the smooth green bottle and shake it instantly.", + "Utilize the right arm to hold the bottle with white printed label and shake it.", + "Lift the medium green bottle with capped neck with the right arm and shake.", + "Use the right arm to grab the bottle with rounded neck and shake properly.", + "Shake the the medium-sized green bottle properly after lifting.", + "Pick the medium green bottle up with the right arm and shake.", + "Shake the smooth green plastic bottle after grabbing it.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Use the right arm to grab the green bottle with indented base and shake it.", + "With the right arm, pick the handheld green bottle and shake properly.", + "Shake the green bottle with indented base after grabbing it.", + "Take the medium green bottle with capped neck using the right arm and give it a shake.", + "Pick up the handheld green bottle and shake it well.", + "Hold the green bottle with indented base, shake it briefly.", + "Use the right arm to lift and shake the plastic bottle.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Use the right arm to hold the medium green bottle with capped neck and shake it.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the right arm to pick and shake the medium green bottle with capped neck.", + "Using the right arm, shake the bottle with rounded neck and then place it back.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Grab and shake the medium-sized green bottle using the right arm.", + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Hold and shake the the handheld green bottle carefully.", + "Hold the handheld green bottle with the right arm and shake lightly.", + "Shake the bottle with rounded neck after grabbing it.", + "Grab the smooth green bottle using the right arm, then shake.", + "Hold the smooth green plastic bottle and shake it properly.", + "Secure the medium-sized green bottle and perform a shake.", + "Grab the green bottle with indented base carefully and shake.", + "Lift up the bottle with ridges near base using the right arm, then shake.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Grip the smooth green plastic bottle using the right arm and shake.", + "Grab the green bottle with indented base and shake it steadily.", + "Hold the smooth green bottle steady, then shake it.", + "Shake the smooth green plastic bottle using the right arm after grabbing.", + "Grab the bottle with ridges near base with the right arm and shake.", + "Grasp the bottle with ridges near base with the right arm and shake it.", + "Pick up the green bottle with indented base and shake it.", + "Shake the plastic bottle after lifting it.", + "Lift the smooth green plastic bottle and shake it gently.", + "Pick the medium green bottle and perform shaking motion.", + "Shake the green bottle with indented base after holding it firmly.", + "Grab the medium-sized green bottle and move it to shake.", + "Pick the bottle with ridges near base up using the right arm and shake it.", + "Lift the bottle with white printed label with the right arm and shake it.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Pick the green bottle with indented base, shake it with the right arm.", + "Lift the bottle with ridges near base with the right arm and give it a shake.", + "Use the right arm to lift and shake the smooth green bottle.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Utilize the right arm to hold the handheld green bottle and shake it.", + "Lift the smooth green plastic bottle with the right arm and shake.", + "Use the right arm to grab the smooth green plastic bottle and shake properly.", + "Shake the the green bottle with indented base properly after lifting.", + "Pick the handheld green bottle up with the right arm and shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Use the right arm to grab the handheld green bottle and shake it.", + "With the right arm, pick the smooth green bottle and shake properly." + ], + "unseen": [ + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode51.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode51.json new file mode 100644 index 0000000000000000000000000000000000000000..67c19bcffb2837c3dd2af143572928548b1b495e --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode51.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to pick and shake the plastic drink bottle.", + "Shake the long thin bottle after holding it firmly.", + "Shake the dark drink bottle with logo after grabbing it.", + "Grab and shake the red-capped bottle using the left arm.", + "Pick up the red-capped bottle and shake it.", + "Shake the long thin bottle using the left arm after grabbing.", + "Grab the smooth bottle with red lid and give it a shake.", + "Using the left arm, shake the dark drink bottle with logo and then place it back.", + "Grab the brown bottle with red label carefully and shake.", + "Lift up the Coca-Cola bottle using the left arm, then shake.", + "Lift the long thin bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Grab the plastic drink bottle firmly, shake it, and put it down.", + "Utilize the left arm to hold the bottle with white neck and red top and shake it.", + "Use the left arm to lift and shake the long thin bottle.", + "Use the left arm to lift and shake the long thin bottle.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Hold the narrow-necked bottle and shake it properly.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Shake the long thin bottle after lifting it.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Catch the hand-sized soda bottle and shake it instantly.", + "With the left arm, pick the plastic drink bottle and shake properly.", + "Grab the plastic drink bottle and shake it steadily.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Shake the plastic drink bottle after grabbing it.", + "Lift the red-capped bottle and shake it thoroughly.", + "Shake the narrow-necked bottle after grabbing it.", + "Use the left arm to grab the dark drink bottle with logo and shake properly.", + "Grasp the medium dark brown bottle with the left arm and shake it.", + "Pick the plastic drink bottle up using the left arm and shake it.", + "Grip the long thin bottle using the left arm and shake.", + "Pick up the Coca-Cola bottle and shake it well.", + "Lift the hand-sized soda bottle and shake it gently.", + "Hold the long thin bottle steady, then shake it.", + "Grab the brown bottle with red label and move it to shake.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Hold the medium dark brown bottle, shake it briefly.", + "Pick the medium dark brown bottle, shake it with the left arm.", + "Lift the red-capped bottle with the left arm and shake it.", + "Pick the smooth bottle with red lid up with the left arm and shake.", + "Shake the the long thin bottle properly after lifting.", + "Lift the narrow-necked bottle with the left arm and shake.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Use the left arm to hold the medium dark brown bottle and shake it.", + "Use the left arm to pick and shake the bottle with white neck and red top.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grab and shake the dark drink bottle with logo using the left arm.", + "Pick up the smooth bottle with red lid and shake it.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Grab the smooth bottle with red lid and give it a shake.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Grab the medium dark brown bottle carefully and shake.", + "Lift up the Coca-Cola bottle using the left arm, then shake.", + "Lift the bottle with ridges on bottom with the left arm and give it a shake.", + "Use the left arm to lift and shake the red-capped bottle.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Hold the bottle with white neck and red top and shake it properly.", + "Take the red-capped bottle using the left arm and give it a shake.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Shake the dark drink bottle with logo after lifting it.", + "Secure the hand-sized soda bottle and perform a shake.", + "Catch the bottle with white neck and red top and shake it instantly.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Grab the medium dark brown bottle and shake it steadily.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Shake the long thin bottle after grabbing it.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the left arm to grab the hand-sized soda bottle and shake properly.", + "Grasp the smooth bottle with red lid with the left arm and shake it.", + "Pick the bottle with white neck and red top up using the left arm and shake it.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Pick up the smooth bottle with red lid and shake it well.", + "Lift the smooth bottle with red lid and shake it gently.", + "Hold the long thin bottle steady, then shake it.", + "Grab the long thin bottle and move it to shake.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Hold the medium dark brown bottle, shake it briefly.", + "Pick the medium dark brown bottle, shake it with the left arm.", + "Lift the narrow-necked bottle with the left arm and shake it.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Shake the the narrow-necked bottle properly after lifting.", + "Lift the bottle with ridges on bottom with the left arm and shake.", + "Grab the red-capped bottle using the left arm, then shake.", + "Use the left arm to grab the hand-sized soda bottle and shake it.", + "Use the left arm to hold the dark drink bottle with logo and shake it." + ], + "unseen": [ + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode52.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode52.json new file mode 100644 index 0000000000000000000000000000000000000000..d039a5f2480a0dc972a666884ee45cde3f1149f0 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode52.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the smooth bottle with red lid after grabbing it.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Lift the narrow-necked bottle with the left arm and shake.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Use the left arm to pick and shake the bottle with white neck and red top.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Pick up the hand-sized soda bottle and shake it.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Shake the medium dark brown bottle after holding it firmly.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Grab the smooth bottle with red lid using the left arm, then shake.", + "Take the red-capped bottle using the left arm and give it a shake.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Utilize the left arm to hold the narrow-necked bottle and shake it.", + "With the left arm, pick the narrow-necked bottle and shake properly.", + "Grab the narrow-necked bottle and move it to shake.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Shake the long thin bottle after grabbing it.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Grip the dark drink bottle with logo using the left arm and shake.", + "Grab the long thin bottle and give it a shake.", + "Secure the Coca-Cola bottle and perform a shake.", + "Grasp the dark drink bottle with logo with the left arm and shake it.", + "Pick the long thin bottle up with the left arm and shake.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Grab the smooth bottle with red lid carefully and shake.", + "Pick the bottle with white neck and red top up using the left arm and shake it.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Shake the Coca-Cola bottle firmly after grabbing.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Lift up the plastic drink bottle using the left arm, then shake.", + "Lift the medium dark brown bottle and shake it gently.", + "Shake the brown bottle with red label after lifting it.", + "Shake the the red-capped bottle properly after lifting.", + "Grab and shake the smooth bottle with red lid using the left arm.", + "Shake the medium dark brown bottle after grabbing it.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Pick up the plastic drink bottle and shake it well.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Use the left arm to hold the smooth bottle with red lid and shake it.", + "Shake the red-capped bottle after grabbing it.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Use the left arm to grab the dark drink bottle with logo and shake it.", + "Lift the dark drink bottle with logo with the left arm and shake.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Use the left arm to pick and shake the plastic drink bottle.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Pick up the dark drink bottle with logo and shake it.", + "Using the left arm, shake the red-capped bottle and then place it back.", + "Shake the red-capped bottle after holding it firmly.", + "Hold the red-capped bottle steady, then shake it.", + "Grab the red-capped bottle using the left arm, then shake.", + "Take the plastic drink bottle using the left arm and give it a shake.", + "Hold the hand-sized soda bottle and shake it properly.", + "Pick the long thin bottle, shake it with the left arm.", + "Use the left arm to grab the medium dark brown bottle and shake properly.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Utilize the left arm to hold the narrow-necked bottle and shake it.", + "With the left arm, pick the bottle with white neck and red top and shake properly.", + "Grab the plastic drink bottle and move it to shake.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Shake the plastic drink bottle after grabbing it.", + "Hold the medium dark brown bottle with the left arm and shake lightly.", + "Catch the medium dark brown bottle and shake it instantly.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Grab the smooth bottle with red lid and give it a shake.", + "Secure the hand-sized soda bottle and perform a shake.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Pick the narrow-necked bottle up with the left arm and shake.", + "Grab the long thin bottle with the left arm and shake.", + "Grab the red-capped bottle carefully and shake.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Hold and shake the the plastic drink bottle carefully.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Lift the bottle with white neck and red top with the left arm and shake it.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Lift up the medium dark brown bottle using the left arm, then shake.", + "Lift the brown bottle with red label and shake it gently.", + "Shake the medium dark brown bottle after lifting it.", + "Shake the the plastic drink bottle properly after lifting.", + "Grab and shake the long thin bottle using the left arm.", + "Shake the red-capped bottle after grabbing it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Pick up the red-capped bottle and shake it well.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Use the left arm to hold the dark drink bottle with logo and shake it." + ], + "unseen": [ + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode53.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode53.json new file mode 100644 index 0000000000000000000000000000000000000000..787428a533f9531cfe0b3c594f177ece4cc740c7 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode53.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the long thin bottle and shake it gently.", + "Secure the brown bottle with red label and perform a shake.", + "Grasp the long thin bottle with the left arm and shake it.", + "With the left arm, pick the narrow-necked bottle and shake properly.", + "Catch the narrow-necked bottle and shake it instantly.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Hold the long thin bottle and shake it properly.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Grab and shake the brown bottle with red label using the left arm.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Hold and shake the the red-capped bottle carefully.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Lift the dark drink bottle with logo with the left arm and give it a shake.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Shake the the brown bottle with red label properly after lifting.", + "Lift the plastic drink bottle with the left arm and shake.", + "Using the left arm, shake the bottle with white neck and red top and then place it back.", + "Shake the narrow-necked bottle after lifting it.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Take the medium dark brown bottle using the left arm and give it a shake.", + "Pick up the red-capped bottle and shake it.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Pick the plastic drink bottle up using the left arm and shake it.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grab the plastic drink bottle and move it to shake.", + "Use the left arm to lift and shake the red-capped bottle.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grab the medium dark brown bottle using the left arm, then shake.", + "Grip the red-capped bottle using the left arm and shake.", + "Use the left arm to grab the Coca-Cola bottle and shake properly.", + "Pick the red-capped bottle up with the left arm and shake.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Grab the red-capped bottle carefully and shake.", + "Use the left arm to hold the bottle with ridges on bottom and shake it.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Hold the hand-sized soda bottle with the left arm and shake lightly.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Secure the dark drink bottle with logo and perform a shake.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "With the left arm, pick the bottle with white neck and red top and shake properly.", + "Catch the brown bottle with red label and shake it instantly.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Hold the plastic drink bottle and shake it properly.", + "Pick the smooth bottle with red lid, shake it with the left arm.", + "Grab and shake the narrow-necked bottle using the left arm.", + "Pick up the red-capped bottle and shake it well.", + "Hold and shake the the plastic drink bottle carefully.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Hold the long thin bottle steady, then shake it.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Lift the smooth bottle with red lid with the left arm and shake.", + "Using the left arm, shake the smooth bottle with red lid and then place it back.", + "Shake the bottle with white neck and red top after lifting it.", + "Grab the narrow-necked bottle and shake it steadily.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Shake the brown bottle with red label using the left arm after grabbing.", + "Lift up the bottle with white neck and red top using the left arm, then shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Take the red-capped bottle using the left arm and give it a shake.", + "Pick up the Coca-Cola bottle and shake it.", + "Grab the brown bottle with red label and give it a shake.", + "Pick the brown bottle with red label up using the left arm and shake it.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Pick the brown bottle with red label and perform shaking motion.", + "Shake the brown bottle with red label after grabbing it.", + "Grab the red-capped bottle and move it to shake.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Shake the long thin bottle after grabbing it.", + "Grab the smooth bottle with red lid using the left arm, then shake.", + "Grip the dark drink bottle with logo using the left arm and shake.", + "Use the left arm to grab the hand-sized soda bottle and shake properly.", + "Pick the brown bottle with red label up with the left arm and shake.", + "Use the left arm to grab the bottle with ridges on bottom and shake it.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Lift the plastic drink bottle with the left arm and shake it.", + "Grab the hand-sized soda bottle carefully and shake.", + "Use the left arm to hold the hand-sized soda bottle and shake it.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Hold the Coca-Cola bottle with the left arm and shake lightly.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "Shake the dark drink bottle with logo thoroughly after grabbing it." + ], + "unseen": [ + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode54.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode54.json new file mode 100644 index 0000000000000000000000000000000000000000..7cc921efa208670b244c74c4ebfe05c84085a8cd --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode54.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the green bottle with indented base firmly after grabbing.", + "Shake the bottle with rounded neck using the left arm after grabbing.", + "Grab the bottle with ridges near base and move it to shake.", + "Grab the bottle with ridges near base with the left arm and shake.", + "Hold the smooth green bottle, shake it briefly.", + "Grab the green bottle with indented base carefully and shake.", + "Shake the smooth green bottle after grabbing it.", + "Grab the smooth green plastic bottle using the left arm, then shake.", + "Shake the bottle with ridges near base after grabbing it.", + "Use the left arm to grab the bottle with ridges near base and shake properly.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Pick up the bottle with white printed label and shake it.", + "Lift the bottle with narrow top with the left arm and give it a shake.", + "Use the left arm to grab the bottle with rounded neck and shake it.", + "Pick up the smooth green plastic bottle and shake it well.", + "Hold the bottle with white printed label and shake it properly.", + "Using the left arm, shake the medium green bottle with capped neck and then place it back.", + "Pick the green bottle with indented base up using the left arm and shake it.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Pick the bottle with white printed label and perform shaking motion.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Use the left arm to pick and shake the handheld green bottle.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Lift the handheld green bottle with the left arm and shake it.", + "Grab the plastic bottle and give it a shake.", + "Utilize the left arm to hold the smooth green bottle and shake it.", + "Grab the smooth green bottle and shake it steadily.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Pick the bottle with ridges near base up with the left arm and shake.", + "Shake the smooth green plastic bottle after lifting it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grab and shake the plastic bottle using the left arm.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Lift up the handheld green bottle using the left arm, then shake.", + "Take the bottle with ridges near base using the left arm and give it a shake.", + "Grasp the bottle with rounded neck with the left arm and shake it.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Shake the the green bottle with indented base properly after lifting.", + "Grip the bottle with rounded neck using the left arm and shake.", + "Hold the medium green bottle with capped neck with the left arm and shake lightly.", + "Use the left arm to hold the medium green bottle with capped neck and shake it.", + "Lift the plastic bottle and shake it gently.", + "Catch the medium-sized green bottle and shake it instantly.", + "Lift the medium green bottle with capped neck with the left arm and shake.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Shake the bottle with white printed label after holding it firmly.", + "With the left arm, pick the medium green bottle with capped neck and shake properly.", + "Secure the medium-sized green bottle and perform a shake.", + "Pick the bottle with white printed label, shake it with the left arm.", + "Use the left arm to lift and shake the handheld green bottle.", + "Shake the green bottle with indented base firmly after grabbing.", + "Shake the smooth green bottle using the left arm after grabbing.", + "Grab the bottle with white printed label and move it to shake.", + "Grab the medium green bottle with the left arm and shake.", + "Hold the bottle with narrow top, shake it briefly.", + "Grab the bottle with rounded neck carefully and shake.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grab the plastic bottle using the left arm, then shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Use the left arm to grab the green bottle with indented base and shake properly.", + "Hold and shake the the medium-sized green bottle carefully.", + "Pick up the medium green bottle and shake it.", + "Lift the medium-sized green bottle with the left arm and give it a shake.", + "Use the left arm to grab the plastic bottle and shake it.", + "Pick up the medium green bottle and shake it well.", + "Hold the smooth green plastic bottle and shake it properly.", + "Using the left arm, shake the plastic bottle and then place it back.", + "Pick the medium green bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the medium green bottle.", + "Pick the medium green bottle and perform shaking motion.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Use the left arm to pick and shake the green bottle with indented base.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Lift the bottle with rounded neck with the left arm and shake it.", + "Grab the green bottle with indented base and give it a shake.", + "Utilize the left arm to hold the medium green bottle and shake it.", + "Grab the medium-sized green bottle and shake it steadily.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Pick the medium-sized green bottle up with the left arm and shake.", + "Shake the bottle with narrow top after lifting it.", + "Shake the plastic bottle after grabbing it.", + "Grab and shake the bottle with white printed label using the left arm.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Lift up the handheld green bottle using the left arm, then shake.", + "Take the bottle with white printed label using the left arm and give it a shake.", + "Grasp the plastic bottle with the left arm and shake it.", + "Secure the smooth green bottle, shake it, and place it down.", + "Shake the the smooth green bottle properly after lifting.", + "Grip the bottle with rounded neck using the left arm and shake.", + "Hold the smooth green bottle with the left arm and shake lightly.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Lift the bottle with narrow top and shake it gently.", + "Catch the smooth green bottle and shake it instantly.", + "Lift the smooth green bottle with the left arm and shake.", + "Hold the bottle with ridges near base steady, then shake it.", + "Shake the medium-sized green bottle after holding it firmly.", + "With the left arm, pick the bottle with ridges near base and shake properly.", + "Secure the medium-sized green bottle and perform a shake.", + "Pick the bottle with rounded neck, shake it with the left arm.", + "Use the left arm to lift and shake the bottle with narrow top." + ], + "unseen": [ + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode55.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode55.json new file mode 100644 index 0000000000000000000000000000000000000000..e10e5846ceb5af0643ea88cd756ef1ea4aabe43e --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode55.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the plastic drink bottle and shake it thoroughly.", + "Shake the plastic drink bottle after lifting it.", + "Grab the long thin bottle and move it to shake.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "With the left arm, pick the smooth bottle with red lid and shake properly.", + "Lift the plastic drink bottle and shake it gently.", + "Grab the bottle with white neck and red top with the left arm and shake.", + "Catch the long thin bottle and shake it instantly.", + "Use the left arm to grab the plastic drink bottle and shake properly.", + "Grab the bottle with white neck and red top using the left arm, then shake.", + "Pick the smooth bottle with red lid up with the left arm and shake.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Secure the Coca-Cola bottle and perform a shake.", + "Grip the Coca-Cola bottle using the left arm and shake.", + "Shake the narrow-necked bottle after holding it firmly.", + "Grasp the smooth bottle with red lid with the left arm and shake it.", + "Shake the red-capped bottle after grabbing it.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Pick the bottle with ridges on bottom, shake it with the left arm.", + "Using the left arm, shake the bottle with ridges on bottom and then place it back.", + "Lift the plastic drink bottle with the left arm and give it a shake.", + "Pick up the Coca-Cola bottle and shake it well.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Grab and shake the long thin bottle using the left arm.", + "Hold the bottle with ridges on bottom with the left arm and shake lightly.", + "Hold the medium dark brown bottle steady, then shake it.", + "Grab the long thin bottle carefully and shake.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Grab the bottle with ridges on bottom and shake it steadily.", + "Use the left arm to pick and shake the long thin bottle.", + "Use the left arm to lift and shake the red-capped bottle.", + "Shake the long thin bottle firmly after grabbing.", + "Pick the brown bottle with red label up using the left arm and shake it.", + "Grab the Coca-Cola bottle and give it a shake.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Take the Coca-Cola bottle using the left arm and give it a shake.", + "Use the left arm to grab the brown bottle with red label and shake it.", + "Shake the red-capped bottle after grabbing it.", + "Utilize the left arm to hold the Coca-Cola bottle and shake it.", + "Shake the brown bottle with red label after grabbing it.", + "Pick up the plastic drink bottle and shake it.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Hold the narrow-necked bottle and shake it properly.", + "Shake the the red-capped bottle properly after lifting.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Lift up the hand-sized soda bottle using the left arm, then shake.", + "Use the left arm to hold the smooth bottle with red lid and shake it.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Lift the long thin bottle and shake it thoroughly.", + "Shake the narrow-necked bottle after lifting it.", + "Grab the long thin bottle and move it to shake.", + "Shake the brown bottle with red label using the left arm after grabbing.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Lift the plastic drink bottle and shake it gently.", + "Grab the Coca-Cola bottle with the left arm and shake.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Use the left arm to grab the plastic drink bottle and shake properly.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Grip the plastic drink bottle using the left arm and shake.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Grasp the hand-sized soda bottle with the left arm and shake it.", + "Shake the plastic drink bottle after grabbing it.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Pick the bottle with white neck and red top, shake it with the left arm.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Lift the medium dark brown bottle with the left arm and give it a shake.", + "Pick up the smooth bottle with red lid and shake it well.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "Grab and shake the dark drink bottle with logo using the left arm.", + "Hold the red-capped bottle with the left arm and shake lightly.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Grab the brown bottle with red label carefully and shake.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Grab the long thin bottle and shake it steadily.", + "Use the left arm to pick and shake the bottle with white neck and red top.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Shake the long thin bottle firmly after grabbing.", + "Pick the bottle with white neck and red top up using the left arm and shake it.", + "Grab the long thin bottle and give it a shake.", + "Use the left arm to lift and shake the red-capped bottle.", + "Take the dark drink bottle with logo using the left arm and give it a shake.", + "Use the left arm to grab the Coca-Cola bottle and shake it.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Shake the brown bottle with red label after grabbing it.", + "Pick up the plastic drink bottle and shake it.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Hold the plastic drink bottle and shake it properly.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Lift the brown bottle with red label with the left arm and shake.", + "Hold the long thin bottle, shake it briefly.", + "Hold and shake the the brown bottle with red label carefully.", + "Lift up the hand-sized soda bottle using the left arm, then shake.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Lift the brown bottle with red label with the left arm and shake it." + ], + "unseen": [ + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode56.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode56.json new file mode 100644 index 0000000000000000000000000000000000000000..30c75c481e4ae6708d5603b50788a781b7058c83 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode56.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the the narrow-necked bottle properly after lifting.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Secure the smooth bottle with red lid and perform a shake.", + "Shake the red-capped bottle after lifting it.", + "Hold and shake the the red-capped bottle carefully.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Hold the plastic drink bottle, shake it briefly.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Grab the bottle with white neck and red top and move it to shake.", + "Use the left arm to grab the dark drink bottle with logo and shake it.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Hold the plastic drink bottle with the left arm and shake lightly.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Utilize the left arm to hold the bottle with white neck and red top and shake it.", + "Shake the long thin bottle after grabbing it.", + "Pick the hand-sized soda bottle up with the left arm and shake.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Grab the smooth bottle with red lid and give it a shake.", + "Shake the bottle with white neck and red top after grabbing it.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Use the left arm to grab the medium dark brown bottle and shake properly.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Pick the bottle with white neck and red top up using the left arm and shake it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Pick up the plastic drink bottle and shake it.", + "Using the left arm, shake the hand-sized soda bottle and then place it back.", + "Grab the medium dark brown bottle carefully and shake.", + "Grab and shake the smooth bottle with red lid using the left arm.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Use the left arm to hold the hand-sized soda bottle and shake it.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Shake the brown bottle with red label after grabbing it.", + "Hold the hand-sized soda bottle and shake it properly.", + "Lift the dark drink bottle with logo with the left arm and shake.", + "Catch the plastic drink bottle and shake it instantly.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Pick up the long thin bottle and shake it well.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Lift the bottle with white neck and red top and shake it gently.", + "Grab the medium dark brown bottle with the left arm and shake.", + "Grasp the bottle with white neck and red top with the left arm and shake it.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Grab the bottle with white neck and red top using the left arm, then shake.", + "Secure the dark drink bottle with logo and perform a shake.", + "Shake the smooth bottle with red lid after lifting it.", + "Hold and shake the the red-capped bottle carefully.", + "Shake the smooth bottle with red lid using the left arm after grabbing.", + "Hold the plastic drink bottle, shake it briefly.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Grab the bottle with white neck and red top and move it to shake.", + "Use the left arm to grab the plastic drink bottle and shake it.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Hold the Coca-Cola bottle with the left arm and shake lightly.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Utilize the left arm to hold the bottle with white neck and red top and shake it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Pick the red-capped bottle up with the left arm and shake.", + "Lift up the dark drink bottle with logo using the left arm, then shake.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Grab the medium dark brown bottle and give it a shake.", + "Shake the medium dark brown bottle after grabbing it.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Use the left arm to grab the bottle with ridges on bottom and shake properly.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Secure the red-capped bottle, shake it, and place it down.", + "Pick the brown bottle with red label up using the left arm and shake it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Grab the red-capped bottle and shake it steadily.", + "Use the left arm to lift and shake the long thin bottle.", + "Pick up the smooth bottle with red lid and shake it.", + "Using the left arm, shake the smooth bottle with red lid and then place it back.", + "Grab the bottle with white neck and red top carefully and shake.", + "Grab and shake the narrow-necked bottle using the left arm.", + "Lift the medium dark brown bottle with the left arm and give it a shake.", + "Use the left arm to hold the bottle with white neck and red top and shake it.", + "Take the brown bottle with red label using the left arm and give it a shake.", + "Shake the bottle with white neck and red top after grabbing it.", + "Hold the plastic drink bottle and shake it properly.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Catch the medium dark brown bottle and shake it instantly.", + "Pick the long thin bottle, shake it with the left arm.", + "Pick up the hand-sized soda bottle and shake it well.", + "Use the left arm to pick and shake the medium dark brown bottle.", + "Shake the red-capped bottle after holding it firmly.", + "Lift the Coca-Cola bottle with the left arm and shake it.", + "Lift the dark drink bottle with logo and shake it gently.", + "Grab the long thin bottle with the left arm and shake.", + "Grasp the medium dark brown bottle with the left arm and shake it." + ], + "unseen": [ + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode57.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode57.json new file mode 100644 index 0000000000000000000000000000000000000000..fbed8e963519a26702a919a4eb618007120f1cf2 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode57.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the plastic bottle and shake it gently.", + "Use the right arm to grab the handheld green bottle and shake properly.", + "Grab the bottle with narrow top carefully and shake.", + "Lift the medium green bottle with the right arm and give it a shake.", + "Grab the medium-sized green bottle and move it to shake.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Using the right arm, shake the bottle with narrow top and then place it back.", + "Lift up the smooth green plastic bottle using the right arm, then shake.", + "Pick the plastic bottle up using the right arm and shake it.", + "Pick up the medium green bottle and shake it well.", + "Use the right arm to hold the bottle with ridges near base and shake it.", + "Shake the smooth green plastic bottle using the right arm after grabbing.", + "Grasp the bottle with rounded neck with the right arm and shake it.", + "Hold and shake the the medium green bottle carefully.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Use the right arm to pick and shake the bottle with narrow top.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Lift the smooth green bottle and shake it thoroughly.", + "Shake the medium green bottle firmly after grabbing.", + "Hold the handheld green bottle with the right arm and shake lightly.", + "Grab the medium green bottle with capped neck and shake it steadily.", + "Shake the medium-sized green bottle after grabbing it.", + "Shake the the bottle with white printed label properly after lifting.", + "Grab the smooth green bottle and give it a shake.", + "Take the bottle with narrow top using the right arm and give it a shake.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Pick the plastic bottle, shake it with the right arm.", + "Lift the bottle with white printed label with the right arm and shake it.", + "Hold the bottle with white printed label and shake it properly.", + "Use the right arm to grab the handheld green bottle and shake it.", + "Hold the handheld green bottle, shake it briefly.", + "Use the right arm to lift and shake the handheld green bottle.", + "Catch the green bottle with indented base and shake it instantly.", + "Pick the bottle with ridges near base up with the right arm and shake.", + "Shake the smooth green bottle after grabbing it.", + "Shake the bottle with rounded neck after holding it firmly.", + "Shake the bottle with ridges near base after grabbing it.", + "Hold the medium green bottle steady, then shake it.", + "Shake the bottle with ridges near base after lifting it.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Grab and shake the medium green bottle using the right arm.", + "Lift the medium green bottle with capped neck with the right arm and shake.", + "Grip the bottle with white printed label using the right arm and shake.", + "Secure the green bottle with indented base and perform a shake.", + "Grab the medium-sized green bottle using the right arm, then shake.", + "Pick the green bottle with indented base and perform shaking motion.", + "Grab the bottle with rounded neck with the right arm and shake.", + "With the right arm, pick the smooth green bottle and shake properly.", + "Pick up the medium green bottle with capped neck and shake it.", + "Lift the bottle with white printed label and shake it gently.", + "Use the right arm to grab the bottle with white printed label and shake properly.", + "Grab the medium green bottle carefully and shake.", + "Lift the handheld green bottle with the right arm and give it a shake.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Use the right arm to lift and shake the handheld green bottle.", + "Using the right arm, shake the handheld green bottle and then place it back.", + "Lift up the green bottle with indented base using the right arm, then shake.", + "Pick the medium green bottle up using the right arm and shake it.", + "Pick up the medium green bottle and shake it well.", + "Use the right arm to hold the medium green bottle with capped neck and shake it.", + "Shake the plastic bottle using the right arm after grabbing.", + "Grasp the plastic bottle with the right arm and shake it.", + "Hold and shake the the plastic bottle carefully.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Use the right arm to pick and shake the smooth green plastic bottle.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Lift the medium green bottle and shake it thoroughly.", + "Shake the green bottle with indented base firmly after grabbing.", + "Hold the bottle with ridges near base with the right arm and shake lightly.", + "Grab the medium green bottle and shake it steadily.", + "Shake the medium green bottle after grabbing it.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Grab the bottle with narrow top and give it a shake.", + "Take the plastic bottle using the right arm and give it a shake.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Pick the smooth green bottle, shake it with the right arm.", + "Lift the medium green bottle with the right arm and shake it.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Use the right arm to grab the medium green bottle and shake it.", + "Hold the medium-sized green bottle, shake it briefly.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Pick the bottle with ridges near base up with the right arm and shake.", + "Shake the medium-sized green bottle after grabbing it.", + "Shake the medium green bottle with capped neck after holding it firmly.", + "Shake the plastic bottle after grabbing it.", + "Hold the medium-sized green bottle steady, then shake it.", + "Shake the bottle with rounded neck after lifting it.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Secure the handheld green bottle, shake it, and place it down.", + "Grab and shake the medium-sized green bottle using the right arm.", + "Lift the smooth green bottle with the right arm and shake.", + "Grip the medium-sized green bottle using the right arm and shake.", + "Secure the bottle with ridges near base and perform a shake.", + "Grab the plastic bottle using the right arm, then shake.", + "Pick the green bottle with indented base and perform shaking motion.", + "Grab the medium green bottle with capped neck with the right arm and shake.", + "With the right arm, pick the plastic bottle and shake properly.", + "Pick up the smooth green bottle and shake it." + ], + "unseen": [ + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with white label with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode58.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode58.json new file mode 100644 index 0000000000000000000000000000000000000000..947464d0306084c394d29936d994859e7ad871e0 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode58.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the plastic drink bottle steady, then shake it.", + "Shake the medium dark brown bottle after grabbing it.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Grab the dark drink bottle with logo and give it a shake.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Pick the bottle with white neck and red top up with the left arm and shake.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Grab the Coca-Cola bottle with the left arm and shake.", + "Lift the bottle with ridges on bottom with the left arm and give it a shake.", + "Hold the red-capped bottle, shake it briefly.", + "Shake the narrow-necked bottle after lifting it.", + "Pick the long thin bottle up using the left arm and shake it.", + "Secure the long thin bottle, shake it, and place it down.", + "With the left arm, pick the hand-sized soda bottle and shake properly.", + "Shake the the plastic drink bottle properly after lifting.", + "Secure the long thin bottle and perform a shake.", + "Use the left arm to hold the Coca-Cola bottle and shake it.", + "Catch the narrow-necked bottle and shake it instantly.", + "Lift the long thin bottle with the left arm and shake it.", + "Pick the plastic drink bottle and perform shaking motion.", + "Lift up the plastic drink bottle using the left arm, then shake.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Using the left arm, shake the smooth bottle with red lid and then place it back.", + "Use the left arm to pick and shake the plastic drink bottle.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Grab the smooth bottle with red lid using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Grab the medium dark brown bottle and shake it steadily.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Shake the red-capped bottle firmly after grabbing.", + "Hold the Coca-Cola bottle and shake it properly.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Pick up the narrow-necked bottle and shake it.", + "Shake the brown bottle with red label after holding it firmly.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Take the medium dark brown bottle using the left arm and give it a shake.", + "Grab the smooth bottle with red lid carefully and shake.", + "Grab and shake the plastic drink bottle using the left arm.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grab the narrow-necked bottle and move it to shake.", + "Grasp the Coca-Cola bottle with the left arm and shake it.", + "Shake the long thin bottle after grabbing it.", + "Use the left arm to grab the brown bottle with red label and shake properly.", + "Grip the medium dark brown bottle using the left arm and shake.", + "Lift the narrow-necked bottle and shake it gently.", + "Lift the red-capped bottle with the left arm and shake.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Utilize the left arm to hold the bottle with ridges on bottom and shake it.", + "Use the left arm to grab the bottle with ridges on bottom and shake it.", + "Hold the plastic drink bottle steady, then shake it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Pick the bottle with white neck and red top, shake it with the left arm.", + "Grab the bottle with white neck and red top and give it a shake.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Pick the brown bottle with red label up with the left arm and shake.", + "Pick up the bottle with ridges on bottom and shake it well.", + "Grab the narrow-necked bottle with the left arm and shake.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Shake the Coca-Cola bottle after lifting it.", + "Pick the plastic drink bottle up using the left arm and shake it.", + "Secure the brown bottle with red label, shake it, and place it down.", + "With the left arm, pick the smooth bottle with red lid and shake properly.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Secure the plastic drink bottle and perform a shake.", + "Use the left arm to hold the bottle with white neck and red top and shake it.", + "Catch the medium dark brown bottle and shake it instantly.", + "Lift the plastic drink bottle with the left arm and shake it.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Lift up the narrow-necked bottle using the left arm, then shake.", + "Shake the long thin bottle using the left arm after grabbing.", + "Using the left arm, shake the bottle with white neck and red top and then place it back.", + "Use the left arm to pick and shake the long thin bottle.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Grab the long thin bottle using the left arm, then shake.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Shake the dark drink bottle with logo firmly after grabbing.", + "Hold the Coca-Cola bottle and shake it properly.", + "Hold and shake the the narrow-necked bottle carefully.", + "Pick up the brown bottle with red label and shake it.", + "Shake the narrow-necked bottle after holding it firmly.", + "Hold the red-capped bottle with the left arm and shake lightly.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Take the bottle with white neck and red top using the left arm and give it a shake.", + "Grab the Coca-Cola bottle carefully and shake.", + "Grab and shake the dark drink bottle with logo using the left arm.", + "Shake the bottle with white neck and red top after grabbing it.", + "Grab the red-capped bottle and move it to shake.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Shake the long thin bottle after grabbing it.", + "Use the left arm to grab the medium dark brown bottle and shake properly.", + "Grip the red-capped bottle using the left arm and shake.", + "Lift the bottle with white neck and red top and shake it gently.", + "Lift the long thin bottle with the left arm and shake.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Use the left arm to grab the narrow-necked bottle and shake it." + ], + "unseen": [ + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode59.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode59.json new file mode 100644 index 0000000000000000000000000000000000000000..2f493f8e5cbd058f133f098b817ae1f69f605772 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode59.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift up the bottle with white neck and red top using the right arm, then shake.", + "Pick up the plastic drink bottle and shake it.", + "Shake the long thin bottle after grabbing it.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Hold the medium dark brown bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the red-capped bottle.", + "Shake the long thin bottle using the right arm after grabbing.", + "Grasp the dark drink bottle with logo with the right arm and shake it.", + "Grab the brown bottle with red label with the right arm and shake.", + "Shake the the narrow-necked bottle properly after lifting.", + "Use the right arm to pick and shake the red-capped bottle.", + "With the right arm, pick the brown bottle with red label and shake properly.", + "Lift the long thin bottle and shake it thoroughly.", + "Grab the bottle with white neck and red top carefully and shake.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Lift the hand-sized soda bottle with the right arm and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the right arm to hold the narrow-necked bottle and shake it.", + "Grip the dark drink bottle with logo using the right arm and shake.", + "Use the right arm to grab the brown bottle with red label and shake it.", + "Lift the smooth bottle with red lid and shake it gently.", + "Hold the dark drink bottle with logo and shake it properly.", + "Secure the brown bottle with red label and perform a shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Take the narrow-necked bottle using the right arm and give it a shake.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Grab the narrow-necked bottle and move it to shake.", + "Pick up the medium dark brown bottle and shake it well.", + "Grab the dark drink bottle with logo and give it a shake.", + "Using the right arm, shake the dark drink bottle with logo and then place it back.", + "Grab the medium dark brown bottle using the right arm, then shake.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Grab and shake the Coca-Cola bottle using the right arm.", + "Pick the dark drink bottle with logo up using the right arm and shake it.", + "Lift the hand-sized soda bottle with the right arm and shake.", + "Pick the Coca-Cola bottle, shake it with the right arm.", + "Pick the bottle with white neck and red top up with the right arm and shake.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Grab the medium dark brown bottle and shake it steadily.", + "Use the right arm to grab the dark drink bottle with logo and shake properly.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Shake the dark drink bottle with logo after lifting it.", + "Catch the medium dark brown bottle and shake it instantly.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Lift up the red-capped bottle using the right arm, then shake.", + "Pick up the plastic drink bottle and shake it.", + "Shake the red-capped bottle after grabbing it.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Hold the plastic drink bottle with the right arm and shake lightly.", + "Use the right arm to lift and shake the long thin bottle.", + "Shake the brown bottle with red label using the right arm after grabbing.", + "Grasp the brown bottle with red label with the right arm and shake it.", + "Grab the bottle with white neck and red top with the right arm and shake.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Use the right arm to pick and shake the narrow-necked bottle.", + "With the right arm, pick the brown bottle with red label and shake properly.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Grab the Coca-Cola bottle carefully and shake.", + "Utilize the right arm to hold the Coca-Cola bottle and shake it.", + "Hold and shake the the plastic drink bottle carefully.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Lift the Coca-Cola bottle with the right arm and shake it.", + "Shake the smooth bottle with red lid after grabbing it.", + "Use the right arm to hold the Coca-Cola bottle and shake it.", + "Grip the bottle with ridges on bottom using the right arm and shake.", + "Use the right arm to grab the Coca-Cola bottle and shake it.", + "Lift the narrow-necked bottle and shake it gently.", + "Hold the brown bottle with red label and shake it properly.", + "Secure the Coca-Cola bottle and perform a shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Lift the bottle with ridges on bottom with the right arm and give it a shake.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Hold the brown bottle with red label steady, then shake it.", + "Take the medium dark brown bottle using the right arm and give it a shake.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Grab the red-capped bottle and move it to shake.", + "Pick up the medium dark brown bottle and shake it well.", + "Grab the brown bottle with red label and give it a shake.", + "Using the right arm, shake the brown bottle with red label and then place it back.", + "Grab the dark drink bottle with logo using the right arm, then shake.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Grab and shake the bottle with white neck and red top using the right arm.", + "Pick the dark drink bottle with logo up using the right arm and shake it.", + "Lift the smooth bottle with red lid with the right arm and shake.", + "Pick the Coca-Cola bottle, shake it with the right arm.", + "Pick the Coca-Cola bottle up with the right arm and shake.", + "Shake the plastic drink bottle firmly after grabbing.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Use the right arm to grab the narrow-necked bottle and shake properly.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Shake the smooth bottle with red lid after lifting it.", + "Catch the long thin bottle and shake it instantly.", + "Secure the smooth bottle with red lid, shake it, and place it down." + ], + "unseen": [ + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode6.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..128176beae13dabe7a9c8c6af336df273a10b153 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the brown bottle with red label using the left arm and shake.", + "With the left arm, pick the brown bottle with red label and shake properly.", + "Take the hand-sized soda bottle using the left arm and give it a shake.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Lift the brown bottle with red label and shake it gently.", + "Hold the red-capped bottle with the left arm and shake lightly.", + "Using the left arm, shake the bottle with ridges on bottom and then place it back.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Shake the dark drink bottle with logo after grabbing it.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Lift the narrow-necked bottle with the left arm and shake it.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Shake the brown bottle with red label after grabbing it.", + "Secure the red-capped bottle and perform a shake.", + "Hold and shake the the narrow-necked bottle carefully.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Grab the long thin bottle carefully and shake.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Pick the dark drink bottle with logo, shake it with the left arm.", + "Grab the plastic drink bottle and move it to shake.", + "Pick the bottle with white neck and red top up with the left arm and shake.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Hold the dark drink bottle with logo and shake it properly.", + "Pick up the Coca-Cola bottle and shake it.", + "Lift up the Coca-Cola bottle using the left arm, then shake.", + "Grab the plastic drink bottle with the left arm and shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Lift the plastic drink bottle with the left arm and shake.", + "Shake the dark drink bottle with logo after lifting it.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Use the left arm to grab the long thin bottle and shake properly.", + "Shake the medium dark brown bottle using the left arm after grabbing.", + "Hold the medium dark brown bottle, shake it briefly.", + "Shake the plastic drink bottle firmly after grabbing.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Grab the plastic drink bottle and give it a shake.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Use the left arm to grab the dark drink bottle with logo and shake it.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Pick up the long thin bottle and shake it well.", + "Pick the dark drink bottle with logo up using the left arm and shake it.", + "Use the left arm to hold the long thin bottle and shake it.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Grab the bottle with white neck and red top using the left arm, then shake.", + "Lift the Coca-Cola bottle with the left arm and give it a shake.", + "Grip the bottle with ridges on bottom using the left arm and shake.", + "With the left arm, pick the dark drink bottle with logo and shake properly.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Secure the red-capped bottle, shake it, and place it down.", + "Lift the medium dark brown bottle and shake it gently.", + "Hold the red-capped bottle with the left arm and shake lightly.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Grab the medium dark brown bottle and shake it steadily.", + "Shake the narrow-necked bottle after grabbing it.", + "Catch the brown bottle with red label and shake it instantly.", + "Lift the Coca-Cola bottle with the left arm and shake it.", + "Hold the narrow-necked bottle steady, then shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Secure the narrow-necked bottle and perform a shake.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Utilize the left arm to hold the dark drink bottle with logo and shake it.", + "Grab the smooth bottle with red lid carefully and shake.", + "Shake the dark drink bottle with logo after holding it firmly.", + "Grasp the bottle with white neck and red top with the left arm and shake it.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Grab the red-capped bottle and move it to shake.", + "Pick the red-capped bottle up with the left arm and shake.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Hold the plastic drink bottle and shake it properly.", + "Pick up the dark drink bottle with logo and shake it.", + "Lift up the dark drink bottle with logo using the left arm, then shake.", + "Grab the long thin bottle with the left arm and shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Lift the plastic drink bottle with the left arm and shake.", + "Shake the medium dark brown bottle after lifting it.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Hold the red-capped bottle, shake it briefly.", + "Shake the long thin bottle firmly after grabbing.", + "Shake the the long thin bottle properly after lifting.", + "Grab the plastic drink bottle and give it a shake.", + "Use the left arm to pick and shake the plastic drink bottle.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Pick up the smooth bottle with red lid and shake it well.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Use the left arm to hold the smooth bottle with red lid and shake it.", + "Grab and shake the long thin bottle using the left arm.", + "Grab the narrow-necked bottle using the left arm, then shake.", + "Lift the long thin bottle with the left arm and give it a shake." + ], + "unseen": [ + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode60.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode60.json new file mode 100644 index 0000000000000000000000000000000000000000..7b8d7173a82ecb889e851cdf17e94af2b204af9a --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode60.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Utilize the left arm to hold the bottle with rounded neck and shake it.", + "Grab the bottle with white printed label using the left arm, then shake.", + "Pick the bottle with narrow top, shake it with the left arm.", + "Use the left arm to grab the medium green bottle with capped neck and shake it.", + "Lift the bottle with white printed label with the left arm and shake.", + "Use the left arm to hold the smooth green plastic bottle and shake it.", + "Shake the green bottle with indented base firmly after grabbing.", + "Grab and shake the plastic bottle using the left arm.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Secure the green bottle with indented base and perform a shake.", + "With the left arm, pick the medium-sized green bottle and shake properly.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Pick up the smooth green bottle and shake it.", + "Grab the smooth green bottle with the left arm and shake.", + "Lift the medium green bottle and shake it thoroughly.", + "Shake the bottle with white printed label after grabbing it.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Pick up the bottle with rounded neck and shake it well.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Shake the the bottle with narrow top properly after lifting.", + "Grab the handheld green bottle and move it to shake.", + "Use the left arm to pick and shake the bottle with rounded neck.", + "Hold the plastic bottle with the left arm and shake lightly.", + "Hold the bottle with narrow top, shake it briefly.", + "Shake the bottle with narrow top after lifting it.", + "Hold and shake the the plastic bottle carefully.", + "Catch the smooth green bottle and shake it instantly.", + "Grab the smooth green bottle carefully and shake.", + "Take the bottle with ridges near base using the left arm and give it a shake.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Shake the plastic bottle after holding it firmly.", + "Pick the medium green bottle and perform shaking motion.", + "Grab the green bottle with indented base and shake it steadily.", + "Using the left arm, shake the smooth green plastic bottle and then place it back.", + "Shake the medium green bottle after grabbing it.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Grasp the bottle with white printed label with the left arm and shake it.", + "Lift the smooth green plastic bottle and shake it gently.", + "Lift up the bottle with ridges near base using the left arm, then shake.", + "Pick the smooth green plastic bottle up with the left arm and shake.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Lift the green bottle with indented base with the left arm and shake it.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Hold the bottle with narrow top steady, then shake it.", + "Hold the plastic bottle and shake it properly.", + "Lift the handheld green bottle with the left arm and give it a shake.", + "Pick the green bottle with indented base up using the left arm and shake it.", + "Shake the smooth green bottle using the left arm after grabbing.", + "Utilize the left arm to hold the medium-sized green bottle and shake it.", + "Grab the bottle with rounded neck using the left arm, then shake.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Use the left arm to grab the smooth green plastic bottle and shake it.", + "Lift the medium green bottle with the left arm and shake.", + "Use the left arm to hold the handheld green bottle and shake it.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Grab and shake the plastic bottle using the left arm.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Secure the plastic bottle and perform a shake.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Pick up the bottle with rounded neck and shake it.", + "Grab the smooth green plastic bottle with the left arm and shake.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Shake the medium-sized green bottle after grabbing it.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Pick up the medium-sized green bottle and shake it well.", + "Grab the medium green bottle and give it a shake.", + "Shake the the green bottle with indented base properly after lifting.", + "Grab the plastic bottle and move it to shake.", + "Use the left arm to pick and shake the handheld green bottle.", + "Hold the handheld green bottle with the left arm and shake lightly.", + "Hold the bottle with rounded neck, shake it briefly.", + "Shake the bottle with rounded neck after lifting it.", + "Hold and shake the the handheld green bottle carefully.", + "Catch the smooth green bottle and shake it instantly.", + "Grab the bottle with rounded neck carefully and shake.", + "Take the medium-sized green bottle using the left arm and give it a shake.", + "Grip the bottle with white printed label using the left arm and shake.", + "Shake the handheld green bottle after grabbing it.", + "Shake the green bottle with indented base after holding it firmly.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Grab the green bottle with indented base and shake it steadily.", + "Using the left arm, shake the handheld green bottle and then place it back.", + "Shake the medium green bottle after grabbing it.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Grasp the medium-sized green bottle with the left arm and shake it.", + "Lift the plastic bottle and shake it gently.", + "Lift up the green bottle with indented base using the left arm, then shake.", + "Pick the medium-sized green bottle up with the left arm and shake.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Lift the medium green bottle with the left arm and shake it.", + "Use the left arm to grab the medium green bottle with capped neck and shake properly.", + "Hold the medium green bottle steady, then shake it.", + "Hold the smooth green bottle and shake it properly.", + "Lift the bottle with narrow top with the left arm and give it a shake.", + "Pick the smooth green plastic bottle up using the left arm and shake it.", + "Shake the plastic bottle using the left arm after grabbing." + ], + "unseen": [ + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green bottle with white label.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to pick the green bottle.", + "Use the left arm to grab the green bottle with white label and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode61.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode61.json new file mode 100644 index 0000000000000000000000000000000000000000..eec65b58159793c290023c7c917c7900fbb75b2e --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode61.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and shake the red-capped bottle using the right arm.", + "Grab the Coca-Cola bottle and move it to shake.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Shake the long thin bottle firmly after grabbing.", + "Hold the medium dark brown bottle, shake it briefly.", + "Grab the narrow-necked bottle carefully and shake.", + "Take the Coca-Cola bottle using the right arm and give it a shake.", + "Pick the brown bottle with red label up with the right arm and shake.", + "Hold the dark drink bottle with logo and shake it properly.", + "Shake the the plastic drink bottle properly after lifting.", + "Use the right arm to grab the brown bottle with red label and shake it.", + "Lift the bottle with ridges on bottom with the right arm and shake.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Shake the smooth bottle with red lid after grabbing it.", + "Use the right arm to hold the smooth bottle with red lid and shake it.", + "Grab the smooth bottle with red lid using the right arm, then shake.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Pick up the medium dark brown bottle and shake it well.", + "Grasp the Coca-Cola bottle with the right arm and shake it.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Lift up the plastic drink bottle using the right arm, then shake.", + "Using the right arm, shake the bottle with ridges on bottom and then place it back.", + "Use the right arm to grab the narrow-necked bottle and shake properly.", + "With the right arm, pick the bottle with white neck and red top and shake properly.", + "Use the right arm to pick and shake the bottle with white neck and red top.", + "Use the right arm to lift and shake the red-capped bottle.", + "Shake the plastic drink bottle after grabbing it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grab the brown bottle with red label and shake it steadily.", + "Pick up the smooth bottle with red lid and shake it.", + "Lift the red-capped bottle and shake it gently.", + "Grab the dark drink bottle with logo with the right arm and shake.", + "Grab the long thin bottle and give it a shake.", + "Lift the plastic drink bottle with the right arm and shake it.", + "Grip the smooth bottle with red lid using the right arm and shake.", + "Catch the plastic drink bottle and shake it instantly.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Utilize the right arm to hold the Coca-Cola bottle and shake it.", + "Hold the medium dark brown bottle with the right arm and shake lightly.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Pick the red-capped bottle up using the right arm and shake it.", + "Shake the bottle with ridges on bottom using the right arm after grabbing.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Shake the bottle with white neck and red top after lifting it.", + "Secure the plastic drink bottle and perform a shake.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Pick the smooth bottle with red lid, shake it with the right arm.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Grab and shake the long thin bottle using the right arm.", + "Grab the narrow-necked bottle and move it to shake.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Hold the Coca-Cola bottle, shake it briefly.", + "Grab the plastic drink bottle carefully and shake.", + "Take the smooth bottle with red lid using the right arm and give it a shake.", + "Pick the bottle with ridges on bottom up with the right arm and shake.", + "Hold the dark drink bottle with logo and shake it properly.", + "Shake the the medium dark brown bottle properly after lifting.", + "Use the right arm to grab the medium dark brown bottle and shake it.", + "Lift the dark drink bottle with logo with the right arm and shake.", + "Pick the brown bottle with red label and perform shaking motion.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Shake the long thin bottle after grabbing it.", + "Use the right arm to hold the smooth bottle with red lid and shake it.", + "Grab the brown bottle with red label using the right arm, then shake.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Pick up the medium dark brown bottle and shake it well.", + "Grasp the brown bottle with red label with the right arm and shake it.", + "Hold and shake the the red-capped bottle carefully.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Lift up the hand-sized soda bottle using the right arm, then shake.", + "Using the right arm, shake the red-capped bottle and then place it back.", + "Use the right arm to grab the brown bottle with red label and shake properly.", + "With the right arm, pick the narrow-necked bottle and shake properly.", + "Use the right arm to pick and shake the brown bottle with red label.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Shake the red-capped bottle after grabbing it.", + "Shake the brown bottle with red label after grabbing it.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Pick up the dark drink bottle with logo and shake it.", + "Lift the plastic drink bottle and shake it gently.", + "Grab the smooth bottle with red lid with the right arm and shake.", + "Grab the bottle with white neck and red top and give it a shake.", + "Lift the brown bottle with red label with the right arm and shake it.", + "Grip the long thin bottle using the right arm and shake.", + "Catch the narrow-necked bottle and shake it instantly.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Utilize the right arm to hold the long thin bottle and shake it.", + "Hold the medium dark brown bottle with the right arm and shake lightly.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Pick the plastic drink bottle up using the right arm and shake it.", + "Shake the plastic drink bottle using the right arm after grabbing.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Shake the dark drink bottle with logo after lifting it.", + "Secure the plastic drink bottle and perform a shake.", + "Shake the plastic drink bottle after holding it firmly.", + "Pick the bottle with ridges on bottom, shake it with the right arm.", + "Use the right arm to lift and shake the bottle with ridges on bottom." + ], + "unseen": [ + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode62.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode62.json new file mode 100644 index 0000000000000000000000000000000000000000..02a4995ac0f2e2629ea115fdbb33515d0171ca1f --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode62.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the bottle with rounded neck up with the right arm and shake.", + "Take the medium-sized green bottle using the right arm and give it a shake.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Hold the smooth green bottle steady, then shake it.", + "Shake the bottle with white printed label firmly after grabbing.", + "Lift the bottle with white printed label with the right arm and shake it.", + "With the right arm, pick the bottle with narrow top and shake properly.", + "Grab the bottle with narrow top using the right arm, then shake.", + "Hold the bottle with rounded neck and shake it properly.", + "Lift up the bottle with rounded neck using the right arm, then shake.", + "Hold the bottle with white printed label with the right arm and shake lightly.", + "Utilize the right arm to hold the green bottle with indented base and shake it.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Use the right arm to grab the bottle with white printed label and shake properly.", + "Catch the bottle with narrow top and shake it instantly.", + "Using the right arm, shake the bottle with rounded neck and then place it back.", + "Use the right arm to grab the bottle with rounded neck and shake it.", + "Pick up the bottle with narrow top and shake it.", + "Use the right arm to pick and shake the green bottle with indented base.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Grasp the bottle with white printed label with the right arm and shake it.", + "Grab and shake the green bottle with indented base using the right arm.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Grab the green bottle with indented base and give it a shake.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Pick the plastic bottle, shake it with the right arm.", + "Shake the plastic bottle after grabbing it.", + "Pick up the handheld green bottle and shake it well.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Shake the the bottle with rounded neck properly after lifting.", + "Lift the smooth green plastic bottle and shake it gently.", + "Pick the smooth green plastic bottle up using the right arm and shake it.", + "Grab the bottle with narrow top carefully and shake.", + "Shake the bottle with white printed label after grabbing it.", + "Grab the green bottle with indented base and move it to shake.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Shake the bottle with white printed label using the right arm after grabbing.", + "Hold the bottle with white printed label, shake it briefly.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Use the right arm to hold the bottle with narrow top and shake it.", + "Grip the handheld green bottle using the right arm and shake.", + "Grab the bottle with white printed label and shake it steadily.", + "Shake the handheld green bottle after lifting it.", + "Lift the handheld green bottle with the right arm and give it a shake.", + "Grab the medium-sized green bottle with the right arm and shake.", + "Shake the plastic bottle after grabbing it.", + "Lift the bottle with rounded neck with the right arm and shake.", + "Shake the bottle with ridges near base after holding it firmly.", + "Pick the medium green bottle up with the right arm and shake.", + "Take the green bottle with indented base using the right arm and give it a shake.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Hold the medium green bottle steady, then shake it.", + "Shake the smooth green bottle firmly after grabbing.", + "Lift the medium-sized green bottle with the right arm and shake it.", + "With the right arm, pick the bottle with ridges near base and shake properly.", + "Grab the bottle with ridges near base using the right arm, then shake.", + "Hold the smooth green bottle and shake it properly.", + "Lift up the medium-sized green bottle using the right arm, then shake.", + "Hold the medium-sized green bottle with the right arm and shake lightly.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Secure the plastic bottle, shake it, and place it down.", + "Use the right arm to grab the bottle with rounded neck and shake properly.", + "Catch the bottle with narrow top and shake it instantly.", + "Using the right arm, shake the medium green bottle with capped neck and then place it back.", + "Use the right arm to grab the medium green bottle and shake it.", + "Pick up the medium green bottle and shake it.", + "Use the right arm to pick and shake the smooth green bottle.", + "Secure the bottle with white printed label and perform a shake.", + "Grasp the smooth green plastic bottle with the right arm and shake it.", + "Grab and shake the smooth green bottle using the right arm.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Grab the medium-sized green bottle and give it a shake.", + "Pick the green bottle with indented base and perform shaking motion.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Pick the smooth green bottle, shake it with the right arm.", + "Shake the smooth green bottle after grabbing it.", + "Pick up the green bottle with indented base and shake it well.", + "Lift the medium green bottle and shake it thoroughly.", + "Shake the the bottle with white printed label properly after lifting.", + "Lift the bottle with white printed label and shake it gently.", + "Pick the bottle with white printed label up using the right arm and shake it.", + "Grab the medium-sized green bottle carefully and shake.", + "Shake the bottle with rounded neck after grabbing it.", + "Grab the smooth green bottle and move it to shake.", + "Use the right arm to lift and shake the smooth green bottle.", + "Shake the medium green bottle using the right arm after grabbing.", + "Hold the bottle with rounded neck, shake it briefly.", + "Use the right arm to lift and shake the smooth green bottle.", + "Hold and shake the the smooth green bottle carefully.", + "Use the right arm to hold the smooth green plastic bottle and shake it.", + "Grip the smooth green plastic bottle using the right arm and shake.", + "Grab the plastic bottle and shake it steadily.", + "Shake the plastic bottle after lifting it.", + "Lift the medium green bottle with the right arm and give it a shake.", + "Grab the medium-sized green bottle with the right arm and shake.", + "Shake the green bottle with indented base after grabbing it.", + "Lift the bottle with rounded neck with the right arm and shake.", + "Shake the bottle with narrow top after holding it firmly." + ], + "unseen": [ + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Use the right arm to pick the green bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode63.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode63.json new file mode 100644 index 0000000000000000000000000000000000000000..560cfc6ceb265fa79604464d2af0676bd5532633 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode63.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the smooth green bottle with the left arm and shake.", + "Secure the medium green bottle, shake it, and place it down.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Shake the bottle with narrow top after grabbing it.", + "Use the left arm to hold the smooth green plastic bottle and shake it.", + "Take the smooth green bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Lift the smooth green plastic bottle with the left arm and shake it.", + "Shake the bottle with narrow top firmly after grabbing.", + "Hold the medium green bottle steady, then shake it.", + "Secure the handheld green bottle and perform a shake.", + "Hold and shake the the bottle with narrow top carefully.", + "Shake the plastic bottle after grabbing it.", + "Grip the green bottle with indented base using the left arm and shake.", + "Lift the plastic bottle with the left arm and give it a shake.", + "With the left arm, pick the medium green bottle with capped neck and shake properly.", + "Grab the medium green bottle and move it to shake.", + "Shake the medium-sized green bottle using the left arm after grabbing.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Use the left arm to pick and shake the green bottle with indented base.", + "Use the left arm to grab the bottle with narrow top and shake it.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Grab the bottle with rounded neck and shake it steadily.", + "Lift the bottle with narrow top and shake it gently.", + "Pick up the bottle with narrow top and shake it well.", + "Shake the medium-sized green bottle after holding it firmly.", + "Hold the smooth green plastic bottle with the left arm and shake lightly.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Use the left arm to lift and shake the medium green bottle.", + "Hold the smooth green bottle, shake it briefly.", + "Lift up the green bottle with indented base using the left arm, then shake.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Grab the handheld green bottle carefully and shake.", + "Pick the smooth green plastic bottle, shake it with the left arm.", + "Pick up the green bottle with indented base and shake it.", + "Grab and shake the medium green bottle with capped neck using the left arm.", + "Using the left arm, shake the smooth green plastic bottle and then place it back.", + "Lift the smooth green bottle with the left arm and shake.", + "Use the left arm to grab the medium green bottle and shake properly.", + "Hold the medium green bottle and shake it properly.", + "Shake the medium green bottle after grabbing it.", + "Shake the bottle with narrow top after lifting it.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Pick the bottle with rounded neck up using the left arm and shake it.", + "Grab the smooth green plastic bottle and give it a shake.", + "Use the left arm to lift and shake the smooth green bottle.", + "Pick the medium green bottle up with the left arm and shake.", + "Shake the the medium green bottle properly after lifting.", + "Grasp the medium green bottle with capped neck with the left arm and shake it.", + "Catch the medium green bottle and shake it instantly.", + "Grab the medium green bottle with the left arm and shake.", + "Secure the plastic bottle, shake it, and place it down.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Shake the smooth green bottle after grabbing it.", + "Use the left arm to hold the medium green bottle and shake it.", + "Take the green bottle with indented base using the left arm and give it a shake.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Lift the bottle with white printed label with the left arm and shake it.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Secure the bottle with white printed label and perform a shake.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Shake the bottle with white printed label after grabbing it.", + "Grip the smooth green plastic bottle using the left arm and shake.", + "Lift the bottle with ridges near base with the left arm and give it a shake.", + "With the left arm, pick the bottle with white printed label and shake properly.", + "Grab the bottle with ridges near base and move it to shake.", + "Shake the medium-sized green bottle using the left arm after grabbing.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Use the left arm to pick and shake the bottle with narrow top.", + "Use the left arm to grab the smooth green bottle and shake it.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Lift the bottle with rounded neck and shake it gently.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Shake the smooth green bottle after holding it firmly.", + "Hold the smooth green bottle with the left arm and shake lightly.", + "Grab the smooth green bottle using the left arm, then shake.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Hold the plastic bottle, shake it briefly.", + "Lift up the bottle with narrow top using the left arm, then shake.", + "Utilize the left arm to hold the bottle with white printed label and shake it.", + "Grab the bottle with white printed label carefully and shake.", + "Pick the smooth green bottle, shake it with the left arm.", + "Pick up the bottle with narrow top and shake it.", + "Grab and shake the bottle with white printed label using the left arm.", + "Using the left arm, shake the medium green bottle with capped neck and then place it back.", + "Lift the bottle with rounded neck with the left arm and shake.", + "Use the left arm to grab the plastic bottle and shake properly.", + "Hold the smooth green bottle and shake it properly.", + "Shake the bottle with ridges near base after grabbing it.", + "Shake the medium-sized green bottle after lifting it.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Pick the bottle with white printed label up using the left arm and shake it.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Pick the handheld green bottle up with the left arm and shake.", + "Shake the the smooth green bottle properly after lifting.", + "Grasp the medium-sized green bottle with the left arm and shake it.", + "Catch the medium green bottle with capped neck and shake it instantly." + ], + "unseen": [ + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to pick the green bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode64.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode64.json new file mode 100644 index 0000000000000000000000000000000000000000..195819a0ee0777e19e86a5b5a6b319c77ac26333 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode64.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth green plastic bottle and shake it gently.", + "Grab the medium green bottle and shake it steadily.", + "Use the right arm to grab the bottle with white printed label and shake properly.", + "Shake the medium green bottle after holding it firmly.", + "Shake the handheld green bottle after grabbing it.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Lift up the medium green bottle using the right arm, then shake.", + "Shake the medium green bottle using the right arm after grabbing.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Grab the medium green bottle and give it a shake.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Lift the bottle with narrow top and shake it thoroughly.", + "Grasp the smooth green bottle with the right arm and shake it.", + "Secure the bottle with rounded neck and perform a shake.", + "Pick the smooth green bottle up using the right arm and shake it.", + "With the right arm, pick the medium green bottle with capped neck and shake properly.", + "Hold the medium green bottle and shake it properly.", + "Lift the green bottle with indented base with the right arm and shake it.", + "Grab the bottle with white printed label carefully and shake.", + "Shake the bottle with rounded neck after grabbing it.", + "Using the right arm, shake the handheld green bottle and then place it back.", + "Utilize the right arm to hold the green bottle with indented base and shake it.", + "Grab the medium green bottle and move it to shake.", + "Grab the bottle with ridges near base using the right arm, then shake.", + "Lift the green bottle with indented base with the right arm and give it a shake.", + "Use the right arm to hold the medium green bottle with capped neck and shake it.", + "Hold the green bottle with indented base, shake it briefly.", + "Hold the smooth green bottle with the right arm and shake lightly.", + "Lift the green bottle with indented base with the right arm and shake.", + "Take the handheld green bottle using the right arm and give it a shake.", + "Pick the handheld green bottle, shake it with the right arm.", + "Pick up the bottle with narrow top and shake it well.", + "Pick up the bottle with rounded neck and shake it.", + "Pick the smooth green bottle and perform shaking motion.", + "Use the right arm to grab the smooth green bottle and shake it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Shake the the green bottle with indented base properly after lifting.", + "Hold and shake the the medium green bottle carefully.", + "Grab and shake the medium-sized green bottle using the right arm.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Grab the medium-sized green bottle with the right arm and shake.", + "Catch the plastic bottle and shake it instantly.", + "Shake the bottle with narrow top after lifting it.", + "Hold the plastic bottle steady, then shake it.", + "Pick the smooth green plastic bottle up with the right arm and shake.", + "Grip the bottle with rounded neck using the right arm and shake.", + "Use the right arm to pick and shake the bottle with narrow top.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Lift the bottle with rounded neck and shake it gently.", + "Grab the handheld green bottle and shake it steadily.", + "Use the right arm to grab the bottle with rounded neck and shake properly.", + "Shake the smooth green bottle after holding it firmly.", + "Shake the medium-sized green bottle after grabbing it.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Lift up the plastic bottle using the right arm, then shake.", + "Shake the green bottle with indented base using the right arm after grabbing.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Grab the bottle with white printed label and give it a shake.", + "Secure the handheld green bottle, shake it, and place it down.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Grasp the bottle with ridges near base with the right arm and shake it.", + "Secure the bottle with ridges near base and perform a shake.", + "Pick the medium-sized green bottle up using the right arm and shake it.", + "With the right arm, pick the bottle with white printed label and shake properly.", + "Hold the bottle with white printed label and shake it properly.", + "Lift the plastic bottle with the right arm and shake it.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Shake the smooth green bottle after grabbing it.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Utilize the right arm to hold the handheld green bottle and shake it.", + "Grab the bottle with rounded neck and move it to shake.", + "Grab the bottle with narrow top using the right arm, then shake.", + "Lift the bottle with ridges near base with the right arm and give it a shake.", + "Use the right arm to hold the plastic bottle and shake it.", + "Hold the medium-sized green bottle, shake it briefly.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Lift the medium-sized green bottle with the right arm and shake.", + "Take the bottle with rounded neck using the right arm and give it a shake.", + "Pick the handheld green bottle, shake it with the right arm.", + "Pick up the bottle with white printed label and shake it well.", + "Pick up the medium-sized green bottle and shake it.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Use the right arm to grab the green bottle with indented base and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Shake the the bottle with narrow top properly after lifting.", + "Hold and shake the the handheld green bottle carefully.", + "Grab and shake the medium-sized green bottle using the right arm.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Grab the bottle with white printed label with the right arm and shake.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Shake the smooth green plastic bottle after lifting it.", + "Hold the smooth green bottle steady, then shake it.", + "Pick the bottle with white printed label up with the right arm and shake.", + "Grip the plastic bottle using the right arm and shake.", + "Use the right arm to pick and shake the smooth green plastic bottle.", + "Use the right arm to lift and shake the smooth green bottle.", + "Use the right arm to lift and shake the medium-sized green bottle." + ], + "unseen": [ + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode65.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode65.json new file mode 100644 index 0000000000000000000000000000000000000000..d540e9bdd4cf0e89f232c963d0b4eccff3c1fd9b --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode65.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift up the bottle with ridges on bottom using the right arm, then shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Grab the brown bottle with red label and move it to shake.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Grip the red-capped bottle using the right arm and shake.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Grab the narrow-necked bottle and give it a shake.", + "Hold the red-capped bottle, shake it briefly.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Use the right arm to grab the bottle with ridges on bottom and shake it.", + "Pick up the medium dark brown bottle and shake it well.", + "Lift the Coca-Cola bottle with the right arm and give it a shake.", + "Hold the Coca-Cola bottle and shake it properly.", + "Using the right arm, shake the narrow-necked bottle and then place it back.", + "With the right arm, pick the narrow-necked bottle and shake properly.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Grab the bottle with white neck and red top carefully and shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Hold the brown bottle with red label steady, then shake it.", + "Grasp the smooth bottle with red lid with the right arm and shake it.", + "Take the smooth bottle with red lid using the right arm and give it a shake.", + "Lift the bottle with ridges on bottom with the right arm and shake it.", + "Hold the red-capped bottle with the right arm and shake lightly.", + "Grab the narrow-necked bottle and shake it steadily.", + "Grab the Coca-Cola bottle with the right arm and shake.", + "Lift the smooth bottle with red lid with the right arm and shake.", + "Shake the bottle with white neck and red top after lifting it.", + "Shake the medium dark brown bottle using the right arm after grabbing.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Use the right arm to pick and shake the medium dark brown bottle.", + "Use the right arm to hold the Coca-Cola bottle and shake it.", + "Shake the the brown bottle with red label properly after lifting.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Grab the bottle with white neck and red top using the right arm, then shake.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Shake the red-capped bottle firmly after grabbing.", + "Pick the long thin bottle, shake it with the right arm.", + "Lift the bottle with white neck and red top and shake it gently.", + "Utilize the right arm to hold the dark drink bottle with logo and shake it.", + "Grab and shake the long thin bottle using the right arm.", + "Pick the hand-sized soda bottle up using the right arm and shake it.", + "Secure the red-capped bottle and perform a shake.", + "Pick the medium dark brown bottle up with the right arm and shake.", + "Use the right arm to grab the Coca-Cola bottle and shake properly.", + "Pick up the red-capped bottle and shake it.", + "Lift up the long thin bottle using the right arm, then shake.", + "Shake the brown bottle with red label after grabbing it.", + "Grab the bottle with white neck and red top and move it to shake.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Grip the dark drink bottle with logo using the right arm and shake.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Grab the hand-sized soda bottle and give it a shake.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Use the right arm to grab the smooth bottle with red lid and shake it.", + "Pick up the long thin bottle and shake it well.", + "Lift the bottle with ridges on bottom with the right arm and give it a shake.", + "Hold the Coca-Cola bottle and shake it properly.", + "Using the right arm, shake the dark drink bottle with logo and then place it back.", + "With the right arm, pick the smooth bottle with red lid and shake properly.", + "Shake the narrow-necked bottle after holding it firmly.", + "Grab the brown bottle with red label carefully and shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Hold the long thin bottle steady, then shake it.", + "Grasp the narrow-necked bottle with the right arm and shake it.", + "Take the smooth bottle with red lid using the right arm and give it a shake.", + "Lift the Coca-Cola bottle with the right arm and shake it.", + "Hold the bottle with white neck and red top with the right arm and shake lightly.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Grab the dark drink bottle with logo with the right arm and shake.", + "Lift the dark drink bottle with logo with the right arm and shake.", + "Shake the brown bottle with red label after lifting it.", + "Shake the brown bottle with red label using the right arm after grabbing.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Use the right arm to pick and shake the Coca-Cola bottle.", + "Use the right arm to hold the medium dark brown bottle and shake it.", + "Shake the the plastic drink bottle properly after lifting.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Grab the smooth bottle with red lid using the right arm, then shake.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Use the right arm to lift and shake the long thin bottle.", + "Shake the smooth bottle with red lid after grabbing it.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Pick the Coca-Cola bottle, shake it with the right arm.", + "Lift the long thin bottle and shake it gently.", + "Utilize the right arm to hold the brown bottle with red label and shake it.", + "Grab and shake the medium dark brown bottle using the right arm.", + "Pick the long thin bottle up using the right arm and shake it.", + "Secure the brown bottle with red label and perform a shake.", + "Pick the red-capped bottle up with the right arm and shake.", + "Use the right arm to grab the plastic drink bottle and shake properly.", + "Pick up the red-capped bottle and shake it." + ], + "unseen": [ + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode66.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode66.json new file mode 100644 index 0000000000000000000000000000000000000000..033bef352f03f6c1e1ef6c31cacea3ca6abbb12e --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode66.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with ridges on bottom after grabbing it.", + "Lift the Coca-Cola bottle with the right arm and shake.", + "Secure the red-capped bottle and perform a shake.", + "Pick the long thin bottle, shake it with the right arm.", + "Grab and shake the bottle with ridges on bottom using the right arm.", + "Grab the narrow-necked bottle and move it to shake.", + "Grip the smooth bottle with red lid using the right arm and shake.", + "Shake the long thin bottle after grabbing it.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Using the right arm, shake the smooth bottle with red lid and then place it back.", + "Grab the hand-sized soda bottle with the right arm and shake.", + "Use the right arm to pick and shake the medium dark brown bottle.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Take the plastic drink bottle using the right arm and give it a shake.", + "Utilize the right arm to hold the dark drink bottle with logo and shake it.", + "Lift the red-capped bottle with the right arm and give it a shake.", + "Hold the long thin bottle and shake it properly.", + "Lift up the long thin bottle using the right arm, then shake.", + "Pick up the brown bottle with red label and shake it well.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Hold and shake the the medium dark brown bottle carefully.", + "Shake the Coca-Cola bottle after lifting it.", + "Use the right arm to hold the red-capped bottle and shake it.", + "Use the right arm to grab the medium dark brown bottle and shake properly.", + "Use the right arm to grab the dark drink bottle with logo and shake it.", + "Lift the red-capped bottle with the right arm and shake it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grab the narrow-necked bottle and give it a shake.", + "Pick up the red-capped bottle and shake it.", + "Hold the bottle with white neck and red top with the right arm and shake lightly.", + "With the right arm, pick the medium dark brown bottle and shake properly.", + "Catch the long thin bottle and shake it instantly.", + "Pick the red-capped bottle and perform shaking motion.", + "Lift the Coca-Cola bottle and shake it gently.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Grasp the brown bottle with red label with the right arm and shake it.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Shake the long thin bottle using the right arm after grabbing.", + "Grab the narrow-necked bottle using the right arm, then shake.", + "Pick the smooth bottle with red lid up using the right arm and shake it.", + "Grab the brown bottle with red label carefully and shake.", + "Shake the brown bottle with red label after holding it firmly.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Pick the medium dark brown bottle up with the right arm and shake.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Shake the bottle with white neck and red top after grabbing it.", + "Lift the Coca-Cola bottle with the right arm and shake.", + "Secure the red-capped bottle and perform a shake.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Grab and shake the plastic drink bottle using the right arm.", + "Grab the red-capped bottle and move it to shake.", + "Grip the medium dark brown bottle using the right arm and shake.", + "Shake the brown bottle with red label after grabbing it.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Using the right arm, shake the medium dark brown bottle and then place it back.", + "Grab the hand-sized soda bottle with the right arm and shake.", + "Use the right arm to pick and shake the hand-sized soda bottle.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Take the dark drink bottle with logo using the right arm and give it a shake.", + "Utilize the right arm to hold the Coca-Cola bottle and shake it.", + "Lift the brown bottle with red label with the right arm and give it a shake.", + "Hold the medium dark brown bottle and shake it properly.", + "Lift up the bottle with white neck and red top using the right arm, then shake.", + "Pick up the smooth bottle with red lid and shake it well.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Hold and shake the the red-capped bottle carefully.", + "Shake the hand-sized soda bottle after lifting it.", + "Use the right arm to hold the dark drink bottle with logo and shake it.", + "Use the right arm to grab the medium dark brown bottle and shake properly.", + "Use the right arm to grab the brown bottle with red label and shake it.", + "Lift the narrow-necked bottle with the right arm and shake it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grab the brown bottle with red label and give it a shake.", + "Pick up the smooth bottle with red lid and shake it.", + "Hold the smooth bottle with red lid with the right arm and shake lightly.", + "With the right arm, pick the narrow-necked bottle and shake properly.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Pick the red-capped bottle and perform shaking motion.", + "Lift the Coca-Cola bottle and shake it gently.", + "Hold the red-capped bottle, shake it briefly.", + "Grasp the Coca-Cola bottle with the right arm and shake it.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Shake the red-capped bottle using the right arm after grabbing.", + "Grab the plastic drink bottle using the right arm, then shake.", + "Pick the Coca-Cola bottle up using the right arm and shake it.", + "Grab the bottle with white neck and red top carefully and shake.", + "Shake the medium dark brown bottle after holding it firmly.", + "Use the right arm to lift and shake the long thin bottle.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Pick the hand-sized soda bottle up with the right arm and shake.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Shake the the long thin bottle properly after lifting.", + "Shake the narrow-necked bottle firmly after grabbing." + ], + "unseen": [ + "Pick and shake the the brown bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode67.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode67.json new file mode 100644 index 0000000000000000000000000000000000000000..be70b26bcc507ea091dec06f8bb22b88a9d92ac6 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode67.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the red-capped bottle with the right arm and shake it.", + "Secure the narrow-necked bottle and perform a shake.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Shake the red-capped bottle after grabbing it.", + "Pick up the bottle with ridges on bottom and shake it.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Shake the smooth bottle with red lid after grabbing it.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Use the right arm to hold the Coca-Cola bottle and shake it.", + "Pick the Coca-Cola bottle, shake it with the right arm.", + "Using the right arm, shake the plastic drink bottle and then place it back.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Grab the bottle with white neck and red top and move it to shake.", + "With the right arm, pick the long thin bottle and shake properly.", + "Pick the red-capped bottle up using the right arm and shake it.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Grab the hand-sized soda bottle and give it a shake.", + "Hold the red-capped bottle with the right arm and shake lightly.", + "Grab the long thin bottle carefully and shake.", + "Pick the red-capped bottle and perform shaking motion.", + "Shake the brown bottle with red label after lifting it.", + "Pick the narrow-necked bottle up with the right arm and shake.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Grip the plastic drink bottle using the right arm and shake.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Use the right arm to pick and shake the narrow-necked bottle.", + "Shake the medium dark brown bottle using the right arm after grabbing.", + "Grab the bottle with white neck and red top using the right arm, then shake.", + "Lift the long thin bottle with the right arm and shake.", + "Use the right arm to grab the plastic drink bottle and shake it.", + "Hold the brown bottle with red label, shake it briefly.", + "Grab the red-capped bottle with the right arm and shake.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Take the long thin bottle using the right arm and give it a shake.", + "Lift up the bottle with ridges on bottom using the right arm, then shake.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Use the right arm to grab the red-capped bottle and shake properly.", + "Secure the long thin bottle, shake it, and place it down.", + "Grab and shake the narrow-necked bottle using the right arm.", + "Pick up the bottle with white neck and red top and shake it well.", + "Shake the hand-sized soda bottle after grabbing it.", + "Catch the narrow-necked bottle and shake it instantly.", + "Shake the medium dark brown bottle after holding it firmly.", + "Lift the medium dark brown bottle with the right arm and shake it.", + "Hold and shake the the long thin bottle carefully.", + "Lift the hand-sized soda bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Hold the medium dark brown bottle steady, then shake it.", + "Lift the smooth bottle with red lid and shake it gently.", + "Grasp the brown bottle with red label with the right arm and shake it.", + "Secure the hand-sized soda bottle and perform a shake.", + "Use the right arm to lift and shake the brown bottle with red label.", + "Shake the brown bottle with red label after grabbing it.", + "Pick up the bottle with white neck and red top and shake it.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Grab the red-capped bottle firmly, shake it, and put it down.", + "Use the right arm to hold the hand-sized soda bottle and shake it.", + "Pick the medium dark brown bottle, shake it with the right arm.", + "Using the right arm, shake the dark drink bottle with logo and then place it back.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Grab the long thin bottle and move it to shake.", + "With the right arm, pick the brown bottle with red label and shake properly.", + "Pick the bottle with ridges on bottom up using the right arm and shake it.", + "Hold the plastic drink bottle and shake it properly.", + "Grab the dark drink bottle with logo and give it a shake.", + "Hold the smooth bottle with red lid with the right arm and shake lightly.", + "Grab the long thin bottle carefully and shake.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Shake the dark drink bottle with logo after lifting it.", + "Pick the smooth bottle with red lid up with the right arm and shake.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Use the right arm to pick and shake the red-capped bottle.", + "Shake the narrow-necked bottle using the right arm after grabbing.", + "Grab the medium dark brown bottle using the right arm, then shake.", + "Lift the plastic drink bottle with the right arm and shake.", + "Use the right arm to grab the hand-sized soda bottle and shake it.", + "Hold the bottle with ridges on bottom, shake it briefly.", + "Grab the Coca-Cola bottle with the right arm and shake.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Take the bottle with white neck and red top using the right arm and give it a shake.", + "Lift up the narrow-necked bottle using the right arm, then shake.", + "Utilize the right arm to hold the bottle with ridges on bottom and shake it.", + "Use the right arm to grab the long thin bottle and shake properly.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Grab and shake the plastic drink bottle using the right arm.", + "Pick up the smooth bottle with red lid and shake it well.", + "Shake the bottle with white neck and red top after grabbing it.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Lift the bottle with white neck and red top with the right arm and shake it.", + "Hold and shake the the medium dark brown bottle carefully.", + "Lift the bottle with ridges on bottom with the right arm and give it a shake.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Lift the Coca-Cola bottle and shake it gently." + ], + "unseen": [ + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick and shake the the brown bottle with the right arm.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode68.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode68.json new file mode 100644 index 0000000000000000000000000000000000000000..f242f1df63384c43db082c2647b3dbc986094b95 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode68.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold and shake the the bottle with narrow top carefully.", + "Pick the medium-sized green bottle, shake it with the right arm.", + "Grab the medium green bottle and move it to shake.", + "Secure the medium-sized green bottle and perform a shake.", + "Shake the the bottle with white printed label properly after lifting.", + "Pick up the smooth green plastic bottle and shake it.", + "Use the right arm to grab the smooth green plastic bottle and shake it.", + "Take the smooth green plastic bottle using the right arm and give it a shake.", + "Grab the smooth green plastic bottle using the right arm, then shake.", + "Grab the smooth green plastic bottle and shake it steadily.", + "With the right arm, pick the smooth green bottle and shake properly.", + "Shake the bottle with narrow top after holding it firmly.", + "Grab and shake the smooth green bottle using the right arm.", + "Hold the smooth green plastic bottle with the right arm and shake lightly.", + "Pick the smooth green bottle and perform shaking motion.", + "Use the right arm to grab the bottle with narrow top and shake properly.", + "Pick the plastic bottle up using the right arm and shake it.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Grab the medium-sized green bottle and give it a shake.", + "Hold the bottle with ridges near base, shake it briefly.", + "Hold the bottle with narrow top steady, then shake it.", + "Shake the bottle with ridges near base using the right arm after grabbing.", + "Utilize the right arm to hold the medium-sized green bottle and shake it.", + "Shake the medium green bottle after grabbing it.", + "Grasp the bottle with rounded neck with the right arm and shake it.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Catch the bottle with rounded neck and shake it instantly.", + "Lift the bottle with narrow top and shake it gently.", + "Lift the medium green bottle with the right arm and shake.", + "Use the right arm to pick and shake the smooth green bottle.", + "Shake the smooth green bottle after grabbing it.", + "Hold the bottle with white printed label and shake it properly.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Using the right arm, shake the medium green bottle and then place it back.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Shake the green bottle with indented base after grabbing it.", + "Pick the bottle with narrow top up with the right arm and shake.", + "Shake the plastic bottle after lifting it.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Grip the plastic bottle using the right arm and shake.", + "Use the right arm to hold the bottle with ridges near base and shake it.", + "Use the right arm to lift and shake the medium green bottle.", + "Grab the green bottle with indented base carefully and shake.", + "Use the right arm to lift and shake the handheld green bottle.", + "Grab the plastic bottle with the right arm and shake.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Lift the smooth green bottle with the right arm and shake it.", + "Lift up the bottle with rounded neck using the right arm, then shake.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Hold and shake the the bottle with white printed label carefully.", + "Pick the medium green bottle with capped neck, shake it with the right arm.", + "Grab the smooth green bottle and move it to shake.", + "Secure the handheld green bottle and perform a shake.", + "Shake the the bottle with narrow top properly after lifting.", + "Pick up the handheld green bottle and shake it.", + "Use the right arm to grab the smooth green bottle and shake it.", + "Take the bottle with narrow top using the right arm and give it a shake.", + "Grab the bottle with narrow top using the right arm, then shake.", + "Grab the green bottle with indented base and shake it steadily.", + "With the right arm, pick the bottle with ridges near base and shake properly.", + "Shake the medium green bottle after holding it firmly.", + "Grab and shake the smooth green bottle using the right arm.", + "Hold the medium green bottle with the right arm and shake lightly.", + "Pick the smooth green bottle and perform shaking motion.", + "Use the right arm to grab the smooth green bottle and shake properly.", + "Pick the bottle with white printed label up using the right arm and shake it.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Grab the green bottle with indented base and give it a shake.", + "Hold the plastic bottle, shake it briefly.", + "Hold the bottle with narrow top steady, then shake it.", + "Shake the medium green bottle with capped neck using the right arm after grabbing.", + "Utilize the right arm to hold the green bottle with indented base and shake it.", + "Shake the medium-sized green bottle after grabbing it.", + "Grasp the handheld green bottle with the right arm and shake it.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Catch the plastic bottle and shake it instantly.", + "Lift the medium green bottle and shake it gently.", + "Lift the bottle with white printed label with the right arm and shake.", + "Use the right arm to pick and shake the medium-sized green bottle.", + "Shake the handheld green bottle after grabbing it.", + "Hold the smooth green plastic bottle and shake it properly.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Using the right arm, shake the bottle with white printed label and then place it back.", + "Lift the handheld green bottle and shake it thoroughly.", + "Lift the smooth green plastic bottle with the right arm and give it a shake.", + "Shake the bottle with narrow top after grabbing it.", + "Pick the bottle with ridges near base up with the right arm and shake.", + "Shake the handheld green bottle after lifting it.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Grip the medium green bottle using the right arm and shake.", + "Use the right arm to hold the smooth green plastic bottle and shake it.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Grab the smooth green bottle carefully and shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Grab the bottle with ridges near base with the right arm and shake.", + "Pick up the plastic bottle and shake it well.", + "Lift the bottle with ridges near base with the right arm and shake it.", + "Lift up the medium-sized green bottle using the right arm, then shake.", + "Secure the medium green bottle, shake it, and place it down." + ], + "unseen": [ + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode69.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode69.json new file mode 100644 index 0000000000000000000000000000000000000000..310da50f957ea085e022ddf4b9947269e1964b87 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode69.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the handheld green bottle.", + "Hold and shake the the green bottle with indented base carefully.", + "Shake the the bottle with ridges near base properly after lifting.", + "Pick up the smooth green plastic bottle and shake it well.", + "Shake the plastic bottle firmly after grabbing.", + "Lift the smooth green bottle with the right arm and shake it.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Pick the medium green bottle with capped neck, shake it with the right arm.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Utilize the right arm to hold the bottle with narrow top and shake it.", + "Lift up the medium green bottle with capped neck using the right arm, then shake.", + "Use the right arm to pick and shake the bottle with narrow top.", + "Shake the green bottle with indented base using the right arm after grabbing.", + "Grab the bottle with narrow top and move it to shake.", + "Shake the plastic bottle after lifting it.", + "Shake the smooth green bottle after grabbing it.", + "Use the right arm to grab the bottle with ridges near base and shake properly.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Pick the medium green bottle with capped neck up with the right arm and shake.", + "Lift the bottle with rounded neck with the right arm and shake.", + "Shake the green bottle with indented base after holding it firmly.", + "Grab the green bottle with indented base with the right arm and shake.", + "Catch the bottle with rounded neck and shake it instantly.", + "Use the right arm to hold the smooth green bottle and shake it.", + "Grab and shake the smooth green plastic bottle using the right arm.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Grab the bottle with narrow top and shake it steadily.", + "Grab the bottle with ridges near base using the right arm, then shake.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Hold the green bottle with indented base and shake it properly.", + "Hold the plastic bottle steady, then shake it.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Grab the medium green bottle and give it a shake.", + "Grasp the medium green bottle with the right arm and shake it.", + "Hold the medium green bottle with the right arm and shake lightly.", + "Grip the medium green bottle using the right arm and shake.", + "Pick up the smooth green plastic bottle and shake it.", + "Use the right arm to grab the handheld green bottle and shake it.", + "Shake the bottle with white printed label after grabbing it.", + "Take the bottle with rounded neck using the right arm and give it a shake.", + "Lift the medium green bottle with capped neck with the right arm and give it a shake.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Shake the medium green bottle after grabbing it.", + "With the right arm, pick the green bottle with indented base and shake properly.", + "Pick the handheld green bottle and perform shaking motion.", + "Pick the bottle with white printed label up using the right arm and shake it.", + "Lift the smooth green bottle and shake it thoroughly.", + "Secure the bottle with ridges near base and perform a shake.", + "Lift the smooth green plastic bottle and shake it gently.", + "Using the right arm, shake the bottle with white printed label and then place it back.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Hold and shake the the plastic bottle carefully.", + "Shake the the medium-sized green bottle properly after lifting.", + "Pick up the smooth green bottle and shake it well.", + "Shake the medium green bottle firmly after grabbing.", + "Lift the handheld green bottle with the right arm and shake it.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Pick the bottle with white printed label, shake it with the right arm.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Lift up the medium-sized green bottle using the right arm, then shake.", + "Use the right arm to pick and shake the medium green bottle.", + "Shake the smooth green bottle using the right arm after grabbing.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Shake the bottle with ridges near base after lifting it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Use the right arm to grab the bottle with ridges near base and shake properly.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Pick the smooth green bottle up with the right arm and shake.", + "Lift the bottle with narrow top with the right arm and shake.", + "Shake the bottle with ridges near base after holding it firmly.", + "Grab the bottle with white printed label with the right arm and shake.", + "Catch the bottle with rounded neck and shake it instantly.", + "Use the right arm to hold the bottle with ridges near base and shake it.", + "Grab and shake the medium-sized green bottle using the right arm.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Grab the medium-sized green bottle and shake it steadily.", + "Grab the medium-sized green bottle using the right arm, then shake.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Hold the smooth green plastic bottle and shake it properly.", + "Hold the medium green bottle steady, then shake it.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Grab the bottle with narrow top and give it a shake.", + "Grasp the bottle with narrow top with the right arm and shake it.", + "Hold the smooth green plastic bottle with the right arm and shake lightly.", + "Grip the plastic bottle using the right arm and shake.", + "Pick up the smooth green plastic bottle and shake it.", + "Use the right arm to grab the bottle with white printed label and shake it.", + "Shake the bottle with rounded neck after grabbing it.", + "Take the bottle with white printed label using the right arm and give it a shake.", + "Lift the green bottle with indented base with the right arm and give it a shake.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Shake the green bottle with indented base after grabbing it.", + "With the right arm, pick the plastic bottle and shake properly.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Pick the medium green bottle with capped neck up using the right arm and shake it.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Secure the bottle with white printed label and perform a shake.", + "Lift the bottle with white printed label and shake it gently.", + "Using the right arm, shake the bottle with ridges near base and then place it back." + ], + "unseen": [ + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green bottle with white label and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode7.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..6540d242ae0dd9acff48cd62517058a8fb301196 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the smooth green plastic bottle up using the left arm and shake it.", + "Lift up the bottle with rounded neck using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Lift the bottle with rounded neck with the left arm and shake it.", + "Pick up the bottle with narrow top and shake it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Shake the bottle with ridges near base after grabbing it.", + "Grab the plastic bottle carefully and shake.", + "With the left arm, pick the medium-sized green bottle and shake properly.", + "Pick up the green bottle with indented base and shake it well.", + "Hold the green bottle with indented base with the left arm and shake lightly.", + "Catch the medium green bottle and shake it instantly.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Secure the plastic bottle, shake it, and place it down.", + "Hold and shake the the plastic bottle carefully.", + "Grab the medium green bottle using the left arm, then shake.", + "Hold the smooth green plastic bottle, shake it briefly.", + "Grab the bottle with white printed label and move it to shake.", + "Shake the bottle with narrow top after grabbing it.", + "Use the left arm to pick and shake the medium green bottle.", + "Pick the medium green bottle and perform shaking motion.", + "Shake the bottle with ridges near base after lifting it.", + "Grasp the green bottle with indented base with the left arm and shake it.", + "Hold the medium green bottle steady, then shake it.", + "Grip the bottle with white printed label using the left arm and shake.", + "Grab the green bottle with indented base and shake it steadily.", + "Secure the bottle with white printed label and perform a shake.", + "Pick the bottle with narrow top, shake it with the left arm.", + "Grab and shake the bottle with narrow top using the left arm.", + "Hold the plastic bottle and shake it properly.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Shake the green bottle with indented base using the left arm after grabbing.", + "Pick the medium green bottle with capped neck up with the left arm and shake.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Shake the smooth green bottle firmly after grabbing.", + "Shake the the bottle with ridges near base properly after lifting.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Utilize the left arm to hold the bottle with white printed label and shake it.", + "Grab the plastic bottle with the left arm and shake.", + "Shake the bottle with narrow top after holding it firmly.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Use the left arm to grab the smooth green plastic bottle and shake it.", + "Take the medium-sized green bottle using the left arm and give it a shake.", + "Lift the green bottle with indented base with the left arm and give it a shake.", + "Grab the bottle with white printed label and give it a shake.", + "Lift the medium-sized green bottle with the left arm and shake.", + "Using the left arm, shake the medium green bottle and then place it back.", + "Pick the bottle with white printed label up using the left arm and shake it.", + "Lift up the smooth green plastic bottle using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Lift the medium green bottle with the left arm and shake it.", + "Pick up the medium green bottle with capped neck and shake it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grab the medium green bottle carefully and shake.", + "With the left arm, pick the handheld green bottle and shake properly.", + "Pick up the bottle with white printed label and shake it well.", + "Hold the bottle with ridges near base with the left arm and shake lightly.", + "Catch the bottle with white printed label and shake it instantly.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Hold and shake the the medium green bottle carefully.", + "Grab the bottle with ridges near base using the left arm, then shake.", + "Hold the bottle with rounded neck, shake it briefly.", + "Grab the bottle with ridges near base and move it to shake.", + "Shake the bottle with rounded neck after grabbing it.", + "Use the left arm to pick and shake the medium green bottle.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Shake the smooth green plastic bottle after lifting it.", + "Grasp the medium green bottle with the left arm and shake it.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Grip the bottle with ridges near base using the left arm and shake.", + "Grab the bottle with rounded neck and shake it steadily.", + "Secure the green bottle with indented base and perform a shake.", + "Pick the bottle with narrow top, shake it with the left arm.", + "Grab and shake the medium green bottle using the left arm.", + "Hold the handheld green bottle and shake it properly.", + "Use the left arm to hold the medium-sized green bottle and shake it.", + "Shake the bottle with narrow top using the left arm after grabbing.", + "Pick the medium green bottle with capped neck up with the left arm and shake.", + "Lift the green bottle with indented base and shake it gently.", + "Shake the plastic bottle firmly after grabbing.", + "Shake the the plastic bottle properly after lifting.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Utilize the left arm to hold the bottle with white printed label and shake it.", + "Grab the bottle with narrow top with the left arm and shake.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Use the left arm to grab the medium green bottle and shake properly.", + "Use the left arm to grab the plastic bottle and shake it.", + "Take the bottle with white printed label using the left arm and give it a shake.", + "Lift the bottle with ridges near base with the left arm and give it a shake.", + "Grab the handheld green bottle and give it a shake.", + "Lift the smooth green bottle with the left arm and shake.", + "Using the left arm, shake the medium green bottle and then place it back." + ], + "unseen": [ + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with the left arm and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Use the left arm to pick the green bottle with white label." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode70.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode70.json new file mode 100644 index 0000000000000000000000000000000000000000..ae4f85af4f0c9def226b36e3526c7cd1c2da42f8 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode70.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to pick and shake the medium green bottle with capped neck.", + "Hold the medium green bottle, shake it briefly.", + "Lift the handheld green bottle and shake it gently.", + "Shake the bottle with white printed label after holding it firmly.", + "Pick the smooth green plastic bottle up using the left arm and shake it.", + "Grasp the bottle with narrow top with the left arm and shake it.", + "Pick up the medium green bottle and shake it well.", + "Catch the bottle with narrow top and shake it instantly.", + "Grab the green bottle with indented base and shake it steadily.", + "Grip the smooth green bottle using the left arm and shake.", + "Use the left arm to grab the bottle with ridges near base and shake properly.", + "Grab the green bottle with indented base and give it a shake.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Hold and shake the the bottle with white printed label carefully.", + "Shake the green bottle with indented base firmly after grabbing.", + "Using the left arm, shake the smooth green bottle and then place it back.", + "Pick the bottle with narrow top up with the left arm and shake.", + "Use the left arm to hold the bottle with ridges near base and shake it.", + "Shake the plastic bottle using the left arm after grabbing.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Lift up the bottle with white printed label using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Shake the bottle with white printed label after grabbing it.", + "Lift the medium green bottle with capped neck with the left arm and shake it.", + "Grab the smooth green bottle carefully and shake.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Shake the green bottle with indented base after grabbing it.", + "Shake the medium green bottle with capped neck after lifting it.", + "Use the left arm to grab the smooth green plastic bottle and shake it.", + "Shake the handheld green bottle after grabbing it.", + "Shake the the bottle with rounded neck properly after lifting.", + "Grab the medium-sized green bottle with the left arm and shake.", + "Take the bottle with rounded neck using the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Pick up the handheld green bottle and shake it.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Hold the bottle with narrow top with the left arm and shake lightly.", + "With the left arm, pick the green bottle with indented base and shake properly.", + "Utilize the left arm to hold the bottle with narrow top and shake it.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Grab and shake the bottle with rounded neck using the left arm.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Hold the bottle with rounded neck and shake it properly.", + "Lift the green bottle with indented base with the left arm and shake.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Secure the smooth green plastic bottle and perform a shake.", + "Grab the smooth green plastic bottle using the left arm, then shake.", + "Grab the medium-sized green bottle and move it to shake.", + "Hold the bottle with ridges near base steady, then shake it.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Hold the medium green bottle, shake it briefly.", + "Lift the bottle with narrow top and shake it gently.", + "Shake the bottle with narrow top after holding it firmly.", + "Pick the medium green bottle up using the left arm and shake it.", + "Grasp the smooth green bottle with the left arm and shake it.", + "Pick up the bottle with ridges near base and shake it well.", + "Catch the plastic bottle and shake it instantly.", + "Grab the bottle with white printed label and shake it steadily.", + "Grip the bottle with narrow top using the left arm and shake.", + "Use the left arm to grab the smooth green bottle and shake properly.", + "Grab the bottle with white printed label and give it a shake.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Hold and shake the the bottle with ridges near base carefully.", + "Shake the handheld green bottle firmly after grabbing.", + "Using the left arm, shake the medium green bottle and then place it back.", + "Pick the medium-sized green bottle up with the left arm and shake.", + "Use the left arm to hold the bottle with white printed label and shake it.", + "Shake the medium green bottle with capped neck using the left arm after grabbing.", + "Pick the smooth green bottle and perform shaking motion.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Lift up the plastic bottle using the left arm, then shake.", + "Use the left arm to lift and shake the handheld green bottle.", + "Shake the medium-sized green bottle after grabbing it.", + "Lift the green bottle with indented base with the left arm and shake it.", + "Grab the bottle with ridges near base carefully and shake.", + "Lift the bottle with white printed label with the left arm and give it a shake.", + "Shake the smooth green plastic bottle after grabbing it.", + "Shake the bottle with narrow top after lifting it.", + "Use the left arm to grab the medium green bottle with capped neck and shake it.", + "Shake the bottle with narrow top after grabbing it.", + "Shake the the bottle with white printed label properly after lifting.", + "Grab the smooth green bottle with the left arm and shake.", + "Take the bottle with ridges near base using the left arm and give it a shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Pick up the plastic bottle and shake it.", + "Secure the smooth green bottle, shake it, and place it down.", + "Hold the medium-sized green bottle with the left arm and shake lightly.", + "With the left arm, pick the smooth green bottle and shake properly.", + "Utilize the left arm to hold the smooth green plastic bottle and shake it.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Grab and shake the handheld green bottle using the left arm.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Hold the plastic bottle and shake it properly.", + "Lift the medium green bottle with capped neck with the left arm and shake.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Secure the medium-sized green bottle and perform a shake.", + "Grab the smooth green bottle using the left arm, then shake.", + "Grab the bottle with white printed label and move it to shake.", + "Hold the medium green bottle steady, then shake it." + ], + "unseen": [ + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode71.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode71.json new file mode 100644 index 0000000000000000000000000000000000000000..7ed1e0be4445057eb803925de17be6c487a79e70 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode71.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the plastic drink bottle using the left arm and give it a shake.", + "Pick the hand-sized soda bottle up with the left arm and shake.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Hold the long thin bottle and shake it properly.", + "Lift the long thin bottle and shake it gently.", + "Pick the bottle with white neck and red top up using the left arm and shake it.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Grip the long thin bottle using the left arm and shake.", + "Use the left arm to pick and shake the hand-sized soda bottle.", + "Grab the medium dark brown bottle and give it a shake.", + "Lift the red-capped bottle and shake it thoroughly.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Grab the medium dark brown bottle and shake it steadily.", + "Grasp the medium dark brown bottle with the left arm and shake it.", + "Grab the brown bottle with red label with the left arm and shake.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Shake the long thin bottle firmly after grabbing.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Lift the medium dark brown bottle with the left arm and shake.", + "With the left arm, pick the bottle with white neck and red top and shake properly.", + "Use the left arm to grab the red-capped bottle and shake properly.", + "Secure the red-capped bottle, shake it, and place it down.", + "Hold and shake the the long thin bottle carefully.", + "Use the left arm to lift and shake the long thin bottle.", + "Grab and shake the long thin bottle using the left arm.", + "Use the left arm to hold the long thin bottle and shake it.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Shake the plastic drink bottle after grabbing it.", + "Grab the dark drink bottle with logo and move it to shake.", + "Secure the narrow-necked bottle and perform a shake.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Hold the long thin bottle, shake it briefly.", + "Shake the brown bottle with red label after grabbing it.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Shake the long thin bottle after lifting it.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Pick the medium dark brown bottle, shake it with the left arm.", + "Pick up the medium dark brown bottle and shake it.", + "Catch the red-capped bottle and shake it instantly.", + "Grab the plastic drink bottle using the left arm, then shake.", + "Shake the bottle with white neck and red top after grabbing it.", + "Grab the bottle with white neck and red top carefully and shake.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Pick up the Coca-Cola bottle and shake it well.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Take the dark drink bottle with logo using the left arm and give it a shake.", + "Pick the bottle with white neck and red top up with the left arm and shake.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Hold the brown bottle with red label and shake it properly.", + "Lift the narrow-necked bottle and shake it gently.", + "Pick the red-capped bottle up using the left arm and shake it.", + "Using the left arm, shake the bottle with ridges on bottom and then place it back.", + "Grip the narrow-necked bottle using the left arm and shake.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Grab the plastic drink bottle and give it a shake.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Use the left arm to lift and shake the red-capped bottle.", + "Grab the medium dark brown bottle and shake it steadily.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Shake the smooth bottle with red lid using the left arm after grabbing.", + "Shake the plastic drink bottle firmly after grabbing.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Shake the narrow-necked bottle after holding it firmly.", + "Lift up the bottle with white neck and red top using the left arm, then shake.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "With the left arm, pick the brown bottle with red label and shake properly.", + "Use the left arm to grab the long thin bottle and shake properly.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Grab and shake the smooth bottle with red lid using the left arm.", + "Use the left arm to hold the dark drink bottle with logo and shake it.", + "Lift the brown bottle with red label with the left arm and give it a shake.", + "Shake the long thin bottle after grabbing it.", + "Grab the red-capped bottle and move it to shake.", + "Secure the medium dark brown bottle and perform a shake.", + "Use the left arm to grab the plastic drink bottle and shake it.", + "Lift the Coca-Cola bottle with the left arm and shake it.", + "Hold the red-capped bottle, shake it briefly.", + "Shake the plastic drink bottle after grabbing it.", + "Hold the bottle with ridges on bottom with the left arm and shake lightly.", + "Shake the dark drink bottle with logo after lifting it.", + "Shake the the dark drink bottle with logo properly after lifting.", + "Pick the long thin bottle, shake it with the left arm.", + "Pick up the bottle with ridges on bottom and shake it.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Grab the bottle with ridges on bottom using the left arm, then shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Grab the narrow-necked bottle carefully and shake.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Pick up the plastic drink bottle and shake it well.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Pick the plastic drink bottle and perform shaking motion." + ], + "unseen": [ + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode72.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode72.json new file mode 100644 index 0000000000000000000000000000000000000000..a4a3b552b31e2ff4caf795dcf56a721aed05c1a5 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode72.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the green bottle with indented base using the left arm and shake.", + "Lift up the handheld green bottle using the left arm, then shake.", + "Pick the bottle with ridges near base up using the left arm and shake it.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Secure the smooth green bottle and perform a shake.", + "Hold the medium-sized green bottle steady, then shake it.", + "Shake the medium green bottle after grabbing it.", + "Grab the smooth green bottle with the left arm and shake.", + "Grab and shake the bottle with white printed label using the left arm.", + "Catch the medium green bottle and shake it instantly.", + "Grab the bottle with white printed label and shake it steadily.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Lift the green bottle with indented base with the left arm and shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the bottle with ridges near base after grabbing it.", + "Use the left arm to grab the medium green bottle and shake it.", + "With the left arm, pick the smooth green plastic bottle and shake properly.", + "Use the left arm to hold the medium-sized green bottle and shake it.", + "Take the medium-sized green bottle using the left arm and give it a shake.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Hold the plastic bottle, shake it briefly.", + "Pick up the bottle with narrow top and shake it.", + "Grasp the bottle with ridges near base with the left arm and shake it.", + "Shake the green bottle with indented base firmly after grabbing.", + "Shake the medium-sized green bottle after lifting it.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Shake the handheld green bottle after grabbing it.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Grab the medium green bottle with capped neck using the left arm, then shake.", + "Hold the green bottle with indented base with the left arm and shake lightly.", + "Grab the green bottle with indented base carefully and shake.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Hold and shake the the bottle with narrow top carefully.", + "Use the left arm to grab the medium-sized green bottle and shake properly.", + "Grab the smooth green bottle and give it a shake.", + "Lift the smooth green bottle with the left arm and shake it.", + "Using the left arm, shake the smooth green plastic bottle and then place it back.", + "Use the left arm to pick and shake the plastic bottle.", + "Pick the green bottle with indented base and perform shaking motion.", + "Pick the smooth green bottle up with the left arm and shake.", + "Utilize the left arm to hold the green bottle with indented base and shake it.", + "Shake the medium green bottle with capped neck using the left arm after grabbing.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the medium green bottle.", + "Grab the bottle with rounded neck firmly, shake it, and put it down.", + "Pick up the bottle with ridges near base and shake it well.", + "Grab the smooth green plastic bottle and move it to shake.", + "Lift the medium green bottle and shake it gently.", + "Hold the bottle with ridges near base and shake it properly.", + "Shake the smooth green bottle after holding it firmly.", + "Grip the bottle with ridges near base using the left arm and shake.", + "Lift up the bottle with narrow top using the left arm, then shake.", + "Pick the green bottle with indented base up using the left arm and shake it.", + "Pick the plastic bottle, shake it with the left arm.", + "Secure the bottle with white printed label and perform a shake.", + "Hold the medium green bottle steady, then shake it.", + "Shake the bottle with white printed label after grabbing it.", + "Grab the medium green bottle with capped neck with the left arm and shake.", + "Grab and shake the smooth green bottle using the left arm.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Lift the bottle with white printed label with the left arm and shake.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Shake the medium green bottle after grabbing it.", + "Use the left arm to grab the smooth green plastic bottle and shake it.", + "With the left arm, pick the smooth green plastic bottle and shake properly.", + "Use the left arm to hold the bottle with narrow top and shake it.", + "Take the plastic bottle using the left arm and give it a shake.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Hold the plastic bottle, shake it briefly.", + "Pick up the bottle with white printed label and shake it.", + "Grasp the medium-sized green bottle with the left arm and shake it.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Shake the medium green bottle after lifting it.", + "Shake the the plastic bottle properly after lifting.", + "Shake the handheld green bottle after grabbing it.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Grab the bottle with ridges near base using the left arm, then shake.", + "Hold the smooth green bottle with the left arm and shake lightly.", + "Grab the plastic bottle carefully and shake.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Use the left arm to grab the bottle with rounded neck and shake properly.", + "Grab the smooth green plastic bottle and give it a shake.", + "Lift the green bottle with indented base with the left arm and shake it.", + "Using the left arm, shake the smooth green plastic bottle and then place it back.", + "Use the left arm to pick and shake the medium-sized green bottle.", + "Pick the plastic bottle and perform shaking motion.", + "Pick the bottle with rounded neck up with the left arm and shake.", + "Utilize the left arm to hold the medium-sized green bottle and shake it.", + "Shake the smooth green plastic bottle using the left arm after grabbing.", + "Lift the handheld green bottle with the left arm and give it a shake.", + "Use the left arm to lift and shake the bottle with ridges near base.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Lift the plastic bottle and shake it gently.", + "Hold the bottle with narrow top and shake it properly.", + "Shake the medium-sized green bottle after holding it firmly." + ], + "unseen": [ + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the left arm to grab the green bottle with white label and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green bottle and shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode73.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode73.json new file mode 100644 index 0000000000000000000000000000000000000000..82d62d829ffc0ecc7b470b28ff830ae1a8f1cbe5 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode73.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the hand-sized soda bottle and shake it properly.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Shake the long thin bottle after lifting it.", + "Pick up the red-capped bottle and shake it well.", + "Grab and shake the plastic drink bottle using the right arm.", + "Grab the brown bottle with red label using the right arm, then shake.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Pick the Coca-Cola bottle up using the right arm and shake it.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Take the smooth bottle with red lid using the right arm and give it a shake.", + "Use the right arm to grab the brown bottle with red label and shake it.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Catch the medium dark brown bottle and shake it instantly.", + "Pick the narrow-necked bottle, shake it with the right arm.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Use the right arm to hold the red-capped bottle and shake it.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Secure the hand-sized soda bottle and perform a shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "With the right arm, pick the long thin bottle and shake properly.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Grab the hand-sized soda bottle carefully and shake.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Grasp the Coca-Cola bottle with the right arm and shake it.", + "Shake the narrow-necked bottle after grabbing it.", + "Lift the brown bottle with red label with the right arm and shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Lift the hand-sized soda bottle and shake it gently.", + "Grab the Coca-Cola bottle with the right arm and shake.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Lift up the medium dark brown bottle using the right arm, then shake.", + "Pick the brown bottle with red label up with the right arm and shake.", + "Hold the medium dark brown bottle with the right arm and shake lightly.", + "Lift the hand-sized soda bottle with the right arm and give it a shake.", + "Shake the medium dark brown bottle using the right arm after grabbing.", + "Grab the long thin bottle and give it a shake.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Using the right arm, shake the plastic drink bottle and then place it back.", + "Use the right arm to pick and shake the bottle with ridges on bottom.", + "Pick up the narrow-necked bottle and shake it.", + "Shake the plastic drink bottle firmly after grabbing.", + "Utilize the right arm to hold the long thin bottle and shake it.", + "Use the right arm to grab the bottle with white neck and red top and shake properly.", + "Hold the plastic drink bottle steady, then shake it.", + "Lift the bottle with white neck and red top with the right arm and shake it.", + "Grab the plastic drink bottle and move it to shake.", + "Hold the brown bottle with red label and shake it properly.", + "Shake the the bottle with ridges on bottom properly after lifting.", + "Shake the bottle with white neck and red top after lifting it.", + "Pick up the Coca-Cola bottle and shake it well.", + "Grab and shake the bottle with white neck and red top using the right arm.", + "Grab the hand-sized soda bottle using the right arm, then shake.", + "Hold and shake the the dark drink bottle with logo carefully.", + "Pick the narrow-necked bottle up using the right arm and shake it.", + "Grip the medium dark brown bottle using the right arm and shake.", + "Take the medium dark brown bottle using the right arm and give it a shake.", + "Use the right arm to grab the long thin bottle and shake it.", + "Grab the red-capped bottle and shake it steadily.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Pick the bottle with ridges on bottom, shake it with the right arm.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Pick the brown bottle with red label and perform shaking motion.", + "Use the right arm to hold the brown bottle with red label and shake it.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Secure the bottle with white neck and red top and perform a shake.", + "Shake the bottle with white neck and red top after grabbing it.", + "With the right arm, pick the brown bottle with red label and shake properly.", + "Shake the brown bottle with red label after holding it firmly.", + "Grab the hand-sized soda bottle carefully and shake.", + "Lift the long thin bottle and shake it thoroughly.", + "Hold the red-capped bottle, shake it briefly.", + "Grasp the Coca-Cola bottle with the right arm and shake it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Lift the hand-sized soda bottle with the right arm and shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Lift the long thin bottle and shake it gently.", + "Grab the plastic drink bottle with the right arm and shake.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Lift up the hand-sized soda bottle using the right arm, then shake.", + "Pick the medium dark brown bottle up with the right arm and shake.", + "Hold the narrow-necked bottle with the right arm and shake lightly.", + "Lift the bottle with white neck and red top with the right arm and give it a shake.", + "Shake the hand-sized soda bottle using the right arm after grabbing.", + "Grab the bottle with white neck and red top and give it a shake.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Using the right arm, shake the hand-sized soda bottle and then place it back.", + "Use the right arm to pick and shake the Coca-Cola bottle.", + "Pick up the dark drink bottle with logo and shake it.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "Utilize the right arm to hold the Coca-Cola bottle and shake it.", + "Use the right arm to grab the plastic drink bottle and shake properly.", + "Hold the plastic drink bottle steady, then shake it.", + "Lift the red-capped bottle with the right arm and shake it.", + "Grab the plastic drink bottle and move it to shake." + ], + "unseen": [ + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode74.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode74.json new file mode 100644 index 0000000000000000000000000000000000000000..a27b4192b809aa0b8b57498e30f3e2ecaff76cee --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode74.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the long thin bottle using the right arm after grabbing.", + "Grab the hand-sized soda bottle carefully and shake.", + "Use the right arm to lift and shake the long thin bottle.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Shake the smooth bottle with red lid after grabbing it.", + "Take the brown bottle with red label using the right arm and give it a shake.", + "Grab the dark drink bottle with logo with the right arm and shake.", + "Lift the hand-sized soda bottle with the right arm and shake it.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Hold the brown bottle with red label and shake it properly.", + "Grab the long thin bottle and give it a shake.", + "Lift up the dark drink bottle with logo using the right arm, then shake.", + "Shake the red-capped bottle after holding it firmly.", + "Pick up the medium dark brown bottle and shake it well.", + "Grasp the smooth bottle with red lid with the right arm and shake it.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Shake the medium dark brown bottle firmly after grabbing.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Catch the medium dark brown bottle and shake it instantly.", + "Lift the Coca-Cola bottle and shake it gently.", + "Shake the plastic drink bottle after grabbing it.", + "Lift the bottle with white neck and red top with the right arm and give it a shake.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Grip the bottle with ridges on bottom using the right arm and shake.", + "Pick up the Coca-Cola bottle and shake it.", + "Lift the brown bottle with red label with the right arm and shake.", + "Grab the brown bottle with red label and move it to shake.", + "Grab the long thin bottle using the right arm, then shake.", + "Hold the hand-sized soda bottle, shake it briefly.", + "With the right arm, pick the medium dark brown bottle and shake properly.", + "Use the right arm to grab the red-capped bottle and shake it.", + "Use the right arm to hold the dark drink bottle with logo and shake it.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Secure the dark drink bottle with logo and perform a shake.", + "Shake the hand-sized soda bottle after lifting it.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Hold and shake the the plastic drink bottle carefully.", + "Using the right arm, shake the narrow-necked bottle and then place it back.", + "Grab and shake the brown bottle with red label using the right arm.", + "Hold the medium dark brown bottle with the right arm and shake lightly.", + "Hold the medium dark brown bottle steady, then shake it.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Pick the dark drink bottle with logo up using the right arm and shake it.", + "Pick the hand-sized soda bottle up with the right arm and shake.", + "Shake the the medium dark brown bottle properly after lifting.", + "Grab the medium dark brown bottle and shake it steadily.", + "Use the right arm to grab the red-capped bottle and shake properly.", + "Use the right arm to pick and shake the hand-sized soda bottle.", + "Shake the plastic drink bottle using the right arm after grabbing.", + "Grab the Coca-Cola bottle carefully and shake.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Secure the red-capped bottle, shake it, and place it down.", + "Shake the bottle with white neck and red top after grabbing it.", + "Take the hand-sized soda bottle using the right arm and give it a shake.", + "Grab the bottle with white neck and red top with the right arm and shake.", + "Lift the bottle with white neck and red top with the right arm and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Hold the bottle with white neck and red top and shake it properly.", + "Grab the hand-sized soda bottle and give it a shake.", + "Lift up the smooth bottle with red lid using the right arm, then shake.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Pick up the dark drink bottle with logo and shake it well.", + "Grasp the bottle with white neck and red top with the right arm and shake it.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Pick the long thin bottle, shake it with the right arm.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Lift the hand-sized soda bottle and shake it gently.", + "Shake the long thin bottle after grabbing it.", + "Lift the red-capped bottle with the right arm and give it a shake.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Grip the brown bottle with red label using the right arm and shake.", + "Pick up the narrow-necked bottle and shake it.", + "Lift the brown bottle with red label with the right arm and shake.", + "Grab the hand-sized soda bottle and move it to shake.", + "Grab the narrow-necked bottle using the right arm, then shake.", + "Hold the Coca-Cola bottle, shake it briefly.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Use the right arm to grab the plastic drink bottle and shake it.", + "Use the right arm to hold the plastic drink bottle and shake it.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Secure the medium dark brown bottle and perform a shake.", + "Shake the brown bottle with red label after lifting it.", + "Use the right arm to lift and shake the red-capped bottle.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Using the right arm, shake the medium dark brown bottle and then place it back.", + "Grab and shake the long thin bottle using the right arm.", + "Hold the long thin bottle with the right arm and shake lightly.", + "Hold the long thin bottle steady, then shake it.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Pick the brown bottle with red label up using the right arm and shake it.", + "Pick the narrow-necked bottle up with the right arm and shake.", + "Shake the the brown bottle with red label properly after lifting.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Use the right arm to grab the hand-sized soda bottle and shake properly.", + "Use the right arm to pick and shake the plastic drink bottle." + ], + "unseen": [ + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode75.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode75.json new file mode 100644 index 0000000000000000000000000000000000000000..abce2c8a8fed1b2575b5580c8b0bf0f518d5a9c6 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode75.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the plastic drink bottle with the left arm and shake it.", + "Lift the long thin bottle and shake it gently.", + "Grab and shake the bottle with white neck and red top using the left arm.", + "Pick the long thin bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Shake the brown bottle with red label firmly after grabbing.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Lift up the Coca-Cola bottle using the left arm, then shake.", + "Grab the long thin bottle and give it a shake.", + "Shake the the medium dark brown bottle properly after lifting.", + "Grasp the medium dark brown bottle with the left arm and shake it.", + "Shake the medium dark brown bottle after holding it firmly.", + "Take the brown bottle with red label using the left arm and give it a shake.", + "Grab the long thin bottle using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the left arm to hold the Coca-Cola bottle and shake it.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Grab the medium dark brown bottle and shake it steadily.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Grab the bottle with white neck and red top with the left arm and shake.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Hold the red-capped bottle and shake it properly.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Shake the plastic drink bottle after lifting it.", + "Pick up the narrow-necked bottle and shake it well.", + "Grab the hand-sized soda bottle and move it to shake.", + "Shake the red-capped bottle after grabbing it.", + "Lift the long thin bottle with the left arm and shake.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Pick up the hand-sized soda bottle and shake it.", + "Secure the narrow-necked bottle and perform a shake.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Hold the plastic drink bottle steady, then shake it.", + "Shake the long thin bottle after grabbing it.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Grip the red-capped bottle using the left arm and shake.", + "Pick the hand-sized soda bottle, shake it with the left arm.", + "Hold the plastic drink bottle, shake it briefly.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "With the left arm, pick the smooth bottle with red lid and shake properly.", + "Using the left arm, shake the medium dark brown bottle and then place it back.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Grab the smooth bottle with red lid carefully and shake.", + "Lift the bottle with ridges on bottom with the left arm and give it a shake.", + "Lift the long thin bottle with the left arm and shake it.", + "Lift the dark drink bottle with logo and shake it gently.", + "Grab and shake the plastic drink bottle using the left arm.", + "Pick the plastic drink bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Shake the long thin bottle firmly after grabbing.", + "Pick the plastic drink bottle up with the left arm and shake.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Utilize the left arm to hold the red-capped bottle and shake it.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Grab the bottle with white neck and red top and give it a shake.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Take the Coca-Cola bottle using the left arm and give it a shake.", + "Grab the medium dark brown bottle using the left arm, then shake.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Shake the red-capped bottle after grabbing it.", + "Use the left arm to hold the brown bottle with red label and shake it.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Hold the hand-sized soda bottle with the left arm and shake lightly.", + "Grab the plastic drink bottle with the left arm and shake.", + "Shake the long thin bottle using the left arm after grabbing.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Hold the Coca-Cola bottle and shake it properly.", + "Pick the bottle with white neck and red top and perform shaking motion.", + "Shake the hand-sized soda bottle after lifting it.", + "Pick up the hand-sized soda bottle and shake it well.", + "Grab the dark drink bottle with logo and move it to shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Use the left arm to grab the hand-sized soda bottle and shake it.", + "Pick up the bottle with ridges on bottom and shake it.", + "Secure the dark drink bottle with logo and perform a shake.", + "Hold and shake the the medium dark brown bottle carefully.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Shake the brown bottle with red label after grabbing it.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Grip the plastic drink bottle using the left arm and shake.", + "Pick the long thin bottle, shake it with the left arm.", + "Hold the bottle with white neck and red top, shake it briefly.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "With the left arm, pick the brown bottle with red label and shake properly.", + "Using the left arm, shake the long thin bottle and then place it back.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Grab the dark drink bottle with logo carefully and shake.", + "Lift the red-capped bottle with the left arm and give it a shake." + ], + "unseen": [ + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to grab the brown bottle and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode76.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode76.json new file mode 100644 index 0000000000000000000000000000000000000000..a0198f47efdc59b3b06bb05d316048bd7db0685b --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode76.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Use the left arm to lift and shake the red-capped bottle.", + "Catch the smooth bottle with red lid and shake it instantly.", + "Lift up the long thin bottle using the left arm, then shake.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Hold the medium dark brown bottle steady, then shake it.", + "Lift the long thin bottle and shake it thoroughly.", + "Secure the dark drink bottle with logo and perform a shake.", + "Grip the narrow-necked bottle using the left arm and shake.", + "Use the left arm to hold the narrow-necked bottle and shake it.", + "Grasp the smooth bottle with red lid with the left arm and shake it.", + "Grab the Coca-Cola bottle and move it to shake.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Hold and shake the the red-capped bottle carefully.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Shake the hand-sized soda bottle using the left arm after grabbing.", + "Shake the the medium dark brown bottle properly after lifting.", + "Using the left arm, shake the medium dark brown bottle and then place it back.", + "With the left arm, pick the bottle with white neck and red top and shake properly.", + "Lift the brown bottle with red label with the left arm and give it a shake.", + "Grab the brown bottle with red label firmly, shake it, and put it down.", + "Use the left arm to pick and shake the brown bottle with red label.", + "Shake the Coca-Cola bottle after grabbing it.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Pick the red-capped bottle and perform shaking motion.", + "Shake the smooth bottle with red lid after lifting it.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Use the left arm to grab the medium dark brown bottle and shake properly.", + "Lift the bottle with ridges on bottom with the left arm and shake.", + "Grab the long thin bottle using the left arm, then shake.", + "Use the left arm to lift and shake the red-capped bottle.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Grab and shake the red-capped bottle using the left arm.", + "Grab the red-capped bottle and shake it steadily.", + "Shake the hand-sized soda bottle after grabbing it.", + "Hold the medium dark brown bottle, shake it briefly.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Pick the hand-sized soda bottle up with the left arm and shake.", + "Grab the red-capped bottle with the left arm and shake.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Pick up the long thin bottle and shake it well.", + "Pick up the bottle with ridges on bottom and shake it.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Pick the bottle with white neck and red top up using the left arm and shake it.", + "Hold the smooth bottle with red lid with the left arm and shake lightly.", + "Shake the narrow-necked bottle after grabbing it.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "Shake the medium dark brown bottle after holding it firmly.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Use the left arm to grab the dark drink bottle with logo and shake it.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Lift up the narrow-necked bottle using the left arm, then shake.", + "Grab the Coca-Cola bottle and give it a shake.", + "Hold the smooth bottle with red lid steady, then shake it.", + "Lift the long thin bottle and shake it thoroughly.", + "Secure the Coca-Cola bottle and perform a shake.", + "Grip the long thin bottle using the left arm and shake.", + "Use the left arm to hold the Coca-Cola bottle and shake it.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Grab the brown bottle with red label and move it to shake.", + "Lift the narrow-necked bottle and shake it gently.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Shake the brown bottle with red label using the left arm after grabbing.", + "Shake the the brown bottle with red label properly after lifting.", + "Using the left arm, shake the bottle with ridges on bottom and then place it back.", + "With the left arm, pick the dark drink bottle with logo and shake properly.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Use the left arm to pick and shake the smooth bottle with red lid.", + "Shake the Coca-Cola bottle after grabbing it.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Pick the long thin bottle and perform shaking motion.", + "Shake the bottle with white neck and red top after lifting it.", + "Utilize the left arm to hold the Coca-Cola bottle and shake it.", + "Use the left arm to grab the brown bottle with red label and shake properly.", + "Lift the narrow-necked bottle with the left arm and shake.", + "Grab the bottle with ridges on bottom using the left arm, then shake.", + "Use the left arm to lift and shake the bottle with white neck and red top.", + "Use the left arm to lift and shake the long thin bottle.", + "Grab and shake the Coca-Cola bottle using the left arm.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Shake the red-capped bottle after grabbing it.", + "Hold the red-capped bottle, shake it briefly.", + "Take the bottle with ridges on bottom using the left arm and give it a shake.", + "Pick the smooth bottle with red lid up with the left arm and shake.", + "Grab the long thin bottle with the left arm and shake.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Hold the Coca-Cola bottle and shake it properly.", + "Pick up the medium dark brown bottle and shake it well.", + "Pick up the bottle with ridges on bottom and shake it.", + "Secure the bottle with ridges on bottom, shake it, and place it down.", + "Pick the brown bottle with red label up using the left arm and shake it.", + "Hold the narrow-necked bottle with the left arm and shake lightly.", + "Shake the narrow-necked bottle after grabbing it.", + "Lift the Coca-Cola bottle with the left arm and shake it.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Grab the medium dark brown bottle carefully and shake." + ], + "unseen": [ + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode77.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode77.json new file mode 100644 index 0000000000000000000000000000000000000000..95de38162d8502ff35892a8960b19df7f05d7285 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode77.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the bottle with ridges on bottom, shake it with the right arm.", + "Grab and shake the brown bottle with red label using the right arm.", + "Lift the plastic drink bottle and shake it gently.", + "Grasp the narrow-necked bottle with the right arm and shake it.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Hold the brown bottle with red label with the right arm and shake lightly.", + "Hold and shake the the medium dark brown bottle carefully.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Shake the bottle with white neck and red top after grabbing it.", + "Pick up the medium dark brown bottle and shake it.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Grab the narrow-necked bottle using the right arm, then shake.", + "Shake the plastic drink bottle firmly after grabbing.", + "Pick the long thin bottle up using the right arm and shake it.", + "Utilize the right arm to hold the hand-sized soda bottle and shake it.", + "Shake the the narrow-necked bottle properly after lifting.", + "Use the right arm to grab the Coca-Cola bottle and shake properly.", + "Secure the red-capped bottle, shake it, and place it down.", + "Shake the brown bottle with red label after holding it firmly.", + "Use the right arm to grab the red-capped bottle and shake it.", + "Secure the plastic drink bottle and perform a shake.", + "Grab the bottle with ridges on bottom with the right arm and shake.", + "Pick up the bottle with white neck and red top and shake it well.", + "Hold the red-capped bottle, shake it briefly.", + "Lift the brown bottle with red label with the right arm and shake it.", + "Using the right arm, shake the hand-sized soda bottle and then place it back.", + "Take the long thin bottle using the right arm and give it a shake.", + "With the right arm, pick the smooth bottle with red lid and shake properly.", + "Lift up the red-capped bottle using the right arm, then shake.", + "Shake the bottle with ridges on bottom after lifting it.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Grab the narrow-necked bottle carefully and shake.", + "Shake the Coca-Cola bottle using the right arm after grabbing.", + "Hold the red-capped bottle and shake it properly.", + "Grab the Coca-Cola bottle and move it to shake.", + "Grab the plastic drink bottle and give it a shake.", + "Use the right arm to hold the brown bottle with red label and shake it.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Catch the red-capped bottle and shake it instantly.", + "Shake the bottle with white neck and red top after grabbing it.", + "Shake the red-capped bottle after grabbing it.", + "Pick the red-capped bottle up with the right arm and shake.", + "Lift the medium dark brown bottle with the right arm and shake.", + "Use the right arm to pick and shake the narrow-necked bottle.", + "Pick the long thin bottle, shake it with the right arm.", + "Grab and shake the bottle with ridges on bottom using the right arm.", + "Lift the red-capped bottle and shake it gently.", + "Grasp the smooth bottle with red lid with the right arm and shake it.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Hold the hand-sized soda bottle with the right arm and shake lightly.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Grip the dark drink bottle with logo using the right arm and shake.", + "Shake the smooth bottle with red lid after grabbing it.", + "Pick up the Coca-Cola bottle and shake it.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Grab the dark drink bottle with logo using the right arm, then shake.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Pick the long thin bottle up using the right arm and shake it.", + "Utilize the right arm to hold the dark drink bottle with logo and shake it.", + "Shake the the red-capped bottle properly after lifting.", + "Use the right arm to grab the bottle with ridges on bottom and shake properly.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Use the right arm to grab the plastic drink bottle and shake it.", + "Secure the bottle with white neck and red top and perform a shake.", + "Grab the smooth bottle with red lid with the right arm and shake.", + "Pick up the brown bottle with red label and shake it well.", + "Hold the long thin bottle, shake it briefly.", + "Lift the hand-sized soda bottle with the right arm and shake it.", + "Using the right arm, shake the medium dark brown bottle and then place it back.", + "Take the bottle with white neck and red top using the right arm and give it a shake.", + "With the right arm, pick the dark drink bottle with logo and shake properly.", + "Lift up the long thin bottle using the right arm, then shake.", + "Shake the medium dark brown bottle after lifting it.", + "Hold the medium dark brown bottle steady, then shake it.", + "Grab the plastic drink bottle carefully and shake.", + "Shake the narrow-necked bottle using the right arm after grabbing.", + "Hold the smooth bottle with red lid and shake it properly.", + "Grab the long thin bottle and move it to shake.", + "Grab the narrow-necked bottle and give it a shake.", + "Use the right arm to hold the dark drink bottle with logo and shake it.", + "Grab the narrow-necked bottle and shake it steadily.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Catch the red-capped bottle and shake it instantly.", + "Shake the red-capped bottle after grabbing it.", + "Shake the narrow-necked bottle after grabbing it.", + "Pick the smooth bottle with red lid up with the right arm and shake.", + "Lift the red-capped bottle with the right arm and shake.", + "Use the right arm to pick and shake the brown bottle with red label." + ], + "unseen": [ + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Use the right arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick and shake the the brown bottle with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode78.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode78.json new file mode 100644 index 0000000000000000000000000000000000000000..9a7ca515f8a7670cb04e23da4c7db96ec7ce196f --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode78.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the the green bottle with indented base properly after lifting.", + "Lift the smooth green plastic bottle and shake it gently.", + "Hold and shake the the bottle with ridges near base carefully.", + "Catch the handheld green bottle and shake it instantly.", + "Use the left arm to grab the medium-sized green bottle and shake it.", + "Pick the smooth green bottle up using the left arm and shake it.", + "Grab the plastic bottle carefully and shake.", + "Hold the medium-sized green bottle and shake it properly.", + "Shake the smooth green bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the bottle with white printed label.", + "Pick the plastic bottle and perform shaking motion.", + "Shake the green bottle with indented base after lifting it.", + "Grab the medium green bottle with capped neck with the left arm and shake.", + "Use the left arm to grab the bottle with white printed label and shake properly.", + "Shake the bottle with white printed label firmly after grabbing.", + "Take the smooth green plastic bottle using the left arm and give it a shake.", + "Use the left arm to hold the bottle with white printed label and shake it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Pick up the bottle with rounded neck and shake it.", + "Grab the handheld green bottle using the left arm, then shake.", + "Hold the smooth green bottle steady, then shake it.", + "Grip the medium green bottle with capped neck using the left arm and shake.", + "Use the left arm to pick and shake the bottle with ridges near base.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Lift the bottle with ridges near base with the left arm and shake it.", + "Grab the medium-sized green bottle and shake it steadily.", + "Shake the bottle with white printed label after grabbing it.", + "Grab and shake the bottle with narrow top using the left arm.", + "Pick up the green bottle with indented base and shake it well.", + "Grab the bottle with narrow top and move it to shake.", + "With the left arm, pick the handheld green bottle and shake properly.", + "Utilize the left arm to hold the bottle with ridges near base and shake it.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Pick the medium green bottle with capped neck up with the left arm and shake.", + "Pick the bottle with narrow top, shake it with the left arm.", + "Hold the smooth green bottle, shake it briefly.", + "Use the left arm to lift and shake the medium green bottle.", + "Lift the smooth green plastic bottle with the left arm and shake.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Lift up the smooth green plastic bottle using the left arm, then shake.", + "Hold the handheld green bottle with the left arm and shake lightly.", + "Shake the medium green bottle using the left arm after grabbing.", + "Secure the bottle with narrow top and perform a shake.", + "Grab the smooth green bottle and give it a shake.", + "Using the left arm, shake the bottle with white printed label and then place it back.", + "Grasp the bottle with ridges near base with the left arm and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Lift the plastic bottle and shake it thoroughly.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Shake the bottle with rounded neck after holding it firmly.", + "Shake the the green bottle with indented base properly after lifting.", + "Lift the smooth green plastic bottle and shake it gently.", + "Hold and shake the the plastic bottle carefully.", + "Catch the bottle with ridges near base and shake it instantly.", + "Use the left arm to grab the medium-sized green bottle and shake it.", + "Pick the bottle with white printed label up using the left arm and shake it.", + "Grab the medium green bottle carefully and shake.", + "Hold the handheld green bottle and shake it properly.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Pick the handheld green bottle and perform shaking motion.", + "Shake the medium green bottle after lifting it.", + "Grab the smooth green plastic bottle with the left arm and shake.", + "Use the left arm to grab the handheld green bottle and shake properly.", + "Shake the smooth green bottle firmly after grabbing.", + "Take the handheld green bottle using the left arm and give it a shake.", + "Use the left arm to hold the plastic bottle and shake it.", + "Shake the medium-sized green bottle after grabbing it.", + "Pick up the smooth green plastic bottle and shake it.", + "Grab the green bottle with indented base using the left arm, then shake.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Grip the medium green bottle using the left arm and shake.", + "Use the left arm to pick and shake the medium green bottle.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Lift the bottle with ridges near base with the left arm and shake it.", + "Grab the plastic bottle and shake it steadily.", + "Shake the bottle with white printed label after grabbing it.", + "Grab and shake the bottle with rounded neck using the left arm.", + "Pick up the medium-sized green bottle and shake it well.", + "Grab the medium-sized green bottle and move it to shake.", + "With the left arm, pick the plastic bottle and shake properly.", + "Utilize the left arm to hold the handheld green bottle and shake it.", + "Use the left arm to lift and shake the smooth green plastic bottle.", + "Pick the bottle with white printed label up with the left arm and shake.", + "Pick the green bottle with indented base, shake it with the left arm.", + "Hold the bottle with ridges near base, shake it briefly.", + "Use the left arm to lift and shake the handheld green bottle.", + "Lift the medium green bottle with the left arm and shake.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Lift up the handheld green bottle using the left arm, then shake.", + "Hold the bottle with narrow top with the left arm and shake lightly.", + "Shake the medium green bottle with capped neck using the left arm after grabbing.", + "Secure the bottle with rounded neck and perform a shake.", + "Grab the medium-sized green bottle and give it a shake.", + "Using the left arm, shake the handheld green bottle and then place it back.", + "Grasp the green bottle with indented base with the left arm and shake it.", + "Shake the bottle with ridges near base after grabbing it.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Lift the plastic bottle with the left arm and give it a shake.", + "Shake the bottle with white printed label after holding it firmly." + ], + "unseen": [ + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to pick the green bottle.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the left arm.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode79.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode79.json new file mode 100644 index 0000000000000000000000000000000000000000..f04a53039b34093e915609a9ebed83de3acd4d07 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode79.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the handheld green bottle after holding it firmly.", + "Grab the medium-sized green bottle and give it a shake.", + "Grip the bottle with rounded neck using the right arm and shake.", + "Grab and shake the bottle with rounded neck using the right arm.", + "Pick up the bottle with rounded neck and shake it well.", + "Shake the the smooth green plastic bottle properly after lifting.", + "Use the right arm to lift and shake the medium green bottle.", + "Hold and shake the the green bottle with indented base carefully.", + "Lift the medium green bottle and shake it gently.", + "Pick the bottle with narrow top up with the right arm and shake.", + "Lift the medium-sized green bottle with the right arm and shake it.", + "With the right arm, pick the bottle with ridges near base and shake properly.", + "Use the right arm to hold the bottle with narrow top and shake it.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Lift up the medium-sized green bottle using the right arm, then shake.", + "Hold the plastic bottle and shake it properly.", + "Shake the bottle with white printed label using the right arm after grabbing.", + "Grasp the medium green bottle with the right arm and shake it.", + "Grab the smooth green bottle and move it to shake.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Pick the bottle with rounded neck up using the right arm and shake it.", + "Grab the medium green bottle with capped neck and shake it steadily.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Use the right arm to lift and shake the plastic bottle.", + "Hold the medium-sized green bottle, shake it briefly.", + "Using the right arm, shake the bottle with narrow top and then place it back.", + "Use the right arm to grab the medium green bottle with capped neck and shake properly.", + "Shake the plastic bottle after grabbing it.", + "Use the right arm to grab the medium green bottle and shake it.", + "Use the right arm to pick and shake the smooth green bottle.", + "Pick the handheld green bottle, shake it with the right arm.", + "Shake the handheld green bottle firmly after grabbing.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Shake the plastic bottle after lifting it.", + "Lift the bottle with rounded neck with the right arm and give it a shake.", + "Lift the smooth green bottle with the right arm and shake.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Catch the bottle with white printed label and shake it instantly.", + "Hold the bottle with ridges near base steady, then shake it.", + "Shake the bottle with rounded neck after grabbing it.", + "Grab the green bottle with indented base with the right arm and shake.", + "Grab the plastic bottle carefully and shake.", + "Secure the green bottle with indented base and perform a shake.", + "Grab the medium green bottle using the right arm, then shake.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Take the medium-sized green bottle using the right arm and give it a shake.", + "Hold the medium green bottle with capped neck with the right arm and shake lightly.", + "Pick up the medium-sized green bottle and shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Utilize the right arm to hold the bottle with narrow top and shake it.", + "Shake the handheld green bottle after holding it firmly.", + "Grab the plastic bottle and give it a shake.", + "Grip the medium green bottle using the right arm and shake.", + "Grab and shake the handheld green bottle using the right arm.", + "Pick up the smooth green bottle and shake it well.", + "Shake the the medium-sized green bottle properly after lifting.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Hold and shake the the green bottle with indented base carefully.", + "Lift the medium-sized green bottle and shake it gently.", + "Pick the bottle with narrow top up with the right arm and shake.", + "Lift the bottle with ridges near base with the right arm and shake it.", + "With the right arm, pick the plastic bottle and shake properly.", + "Use the right arm to hold the bottle with ridges near base and shake it.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "Lift up the smooth green plastic bottle using the right arm, then shake.", + "Hold the smooth green bottle and shake it properly.", + "Shake the bottle with rounded neck using the right arm after grabbing.", + "Grasp the smooth green bottle with the right arm and shake it.", + "Grab the green bottle with indented base and move it to shake.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Pick the medium green bottle with capped neck up using the right arm and shake it.", + "Grab the medium-sized green bottle and shake it steadily.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Use the right arm to lift and shake the plastic bottle.", + "Hold the bottle with white printed label, shake it briefly.", + "Using the right arm, shake the smooth green plastic bottle and then place it back.", + "Use the right arm to grab the medium green bottle and shake properly.", + "Shake the smooth green bottle after grabbing it.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "Use the right arm to pick and shake the bottle with rounded neck.", + "Pick the bottle with white printed label, shake it with the right arm.", + "Shake the medium green bottle with capped neck firmly after grabbing.", + "Lift the bottle with ridges near base and shake it thoroughly.", + "Shake the handheld green bottle after lifting it.", + "Lift the handheld green bottle with the right arm and give it a shake.", + "Lift the medium-sized green bottle with the right arm and shake.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Catch the green bottle with indented base and shake it instantly.", + "Hold the bottle with rounded neck steady, then shake it.", + "Shake the plastic bottle after grabbing it.", + "Grab the bottle with narrow top with the right arm and shake.", + "Grab the bottle with white printed label carefully and shake.", + "Secure the smooth green plastic bottle and perform a shake.", + "Grab the smooth green bottle using the right arm, then shake.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Take the bottle with rounded neck using the right arm and give it a shake.", + "Hold the bottle with white printed label with the right arm and shake lightly.", + "Pick up the smooth green plastic bottle and shake it.", + "Shake the smooth green plastic bottle after grabbing it.", + "Utilize the right arm to hold the bottle with rounded neck and shake it." + ], + "unseen": [ + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle and give it a shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode8.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..64696de61b51d8b26b1a88a7aa876c8b550329f7 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the bottle with white printed label.", + "Lift the smooth green bottle and shake it gently.", + "Hold the medium green bottle with capped neck, shake it briefly.", + "Shake the smooth green plastic bottle using the right arm after grabbing.", + "Use the right arm to pick and shake the handheld green bottle.", + "Grasp the bottle with white printed label with the right arm and shake it.", + "Shake the bottle with ridges near base after grabbing it.", + "Use the right arm to grab the bottle with ridges near base and shake properly.", + "Hold the bottle with white printed label steady, then shake it.", + "Grab the green bottle with indented base and move it to shake.", + "Shake the smooth green bottle after grabbing it.", + "Shake the bottle with narrow top after holding it firmly.", + "Shake the bottle with rounded neck after grabbing it.", + "Shake the medium green bottle firmly after grabbing.", + "Shake the the medium-sized green bottle properly after lifting.", + "Lift up the bottle with ridges near base using the right arm, then shake.", + "Pick the bottle with narrow top, shake it with the right arm.", + "Use the right arm to hold the medium-sized green bottle and shake it.", + "Catch the handheld green bottle and shake it instantly.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Lift the medium-sized green bottle with the right arm and give it a shake.", + "Grab and shake the medium-sized green bottle using the right arm.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Grip the medium green bottle using the right arm and shake.", + "Using the right arm, shake the handheld green bottle and then place it back.", + "Grab the medium green bottle with the right arm and shake.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Shake the medium-sized green bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "With the right arm, pick the bottle with white printed label and shake properly.", + "Utilize the right arm to hold the bottle with white printed label and shake it.", + "Pick up the bottle with narrow top and shake it.", + "Grab the medium green bottle with capped neck and shake it steadily.", + "Pick the smooth green bottle up with the right arm and shake.", + "Lift the medium-sized green bottle with the right arm and shake.", + "Hold the bottle with rounded neck and shake it properly.", + "Grab the smooth green bottle carefully and shake.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Take the medium green bottle with capped neck using the right arm and give it a shake.", + "Shake the plastic bottle after lifting it.", + "Grab the green bottle with indented base and give it a shake.", + "Use the right arm to grab the bottle with narrow top and shake it.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Pick up the smooth green bottle and shake it well.", + "Secure the plastic bottle and perform a shake.", + "Lift the bottle with rounded neck with the right arm and shake it.", + "Hold and shake the the medium green bottle carefully.", + "Grab the medium green bottle with capped neck firmly, shake it, and put it down.", + "Grab the bottle with rounded neck using the right arm, then shake.", + "Pick the medium green bottle with capped neck up using the right arm and shake it.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Lift the medium-sized green bottle and shake it gently.", + "Hold the medium green bottle, shake it briefly.", + "Shake the medium green bottle using the right arm after grabbing.", + "Use the right arm to pick and shake the medium green bottle with capped neck.", + "Grasp the medium green bottle with the right arm and shake it.", + "Shake the bottle with ridges near base after grabbing it.", + "Use the right arm to grab the medium green bottle with capped neck and shake properly.", + "Hold the smooth green bottle steady, then shake it.", + "Grab the green bottle with indented base and move it to shake.", + "Shake the bottle with white printed label after grabbing it.", + "Shake the smooth green plastic bottle after holding it firmly.", + "Shake the bottle with narrow top after grabbing it.", + "Shake the medium green bottle firmly after grabbing.", + "Shake the the plastic bottle properly after lifting.", + "Lift up the medium-sized green bottle using the right arm, then shake.", + "Pick the bottle with narrow top, shake it with the right arm.", + "Use the right arm to hold the bottle with narrow top and shake it.", + "Catch the medium green bottle and shake it instantly.", + "Pick the plastic bottle and perform shaking motion.", + "Lift the bottle with white printed label with the right arm and give it a shake.", + "Grab and shake the bottle with white printed label using the right arm.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Grip the bottle with rounded neck using the right arm and shake.", + "Using the right arm, shake the medium green bottle with capped neck and then place it back.", + "Grab the medium green bottle with the right arm and shake.", + "Hold the smooth green plastic bottle with the right arm and shake lightly.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "With the right arm, pick the bottle with rounded neck and shake properly.", + "Utilize the right arm to hold the medium-sized green bottle and shake it.", + "Pick up the smooth green bottle and shake it.", + "Grab the green bottle with indented base and shake it steadily.", + "Pick the bottle with ridges near base up with the right arm and shake.", + "Lift the bottle with narrow top with the right arm and shake.", + "Hold the bottle with rounded neck and shake it properly.", + "Grab the medium-sized green bottle carefully and shake.", + "Lift the medium green bottle and shake it thoroughly.", + "Take the smooth green plastic bottle using the right arm and give it a shake.", + "Shake the medium green bottle after lifting it.", + "Grab the medium-sized green bottle and give it a shake.", + "Use the right arm to grab the smooth green bottle and shake it.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Pick up the medium green bottle and shake it well.", + "Secure the bottle with white printed label and perform a shake.", + "Lift the bottle with rounded neck with the right arm and shake it.", + "Hold and shake the the handheld green bottle carefully.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Grab the medium-sized green bottle using the right arm, then shake.", + "Pick the smooth green bottle up using the right arm and shake it." + ], + "unseen": [ + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick and shake the the green bottle with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the right arm and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode80.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode80.json new file mode 100644 index 0000000000000000000000000000000000000000..825510b65cbba5216659dc721fe0888910e2a826 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode80.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the bottle with white neck and red top up using the left arm and shake it.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Use the left arm to grab the plastic drink bottle and shake properly.", + "Hold the hand-sized soda bottle with the left arm and shake lightly.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Pick up the plastic drink bottle and shake it well.", + "Hold and shake the the long thin bottle carefully.", + "Lift the smooth bottle with red lid with the left arm and give it a shake.", + "Grasp the hand-sized soda bottle with the left arm and shake it.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Shake the dark drink bottle with logo after grabbing it.", + "Grip the plastic drink bottle using the left arm and shake.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Lift the Coca-Cola bottle with the left arm and shake.", + "Shake the the long thin bottle properly after lifting.", + "Pick up the brown bottle with red label and shake it.", + "Use the left arm to pick and shake the medium dark brown bottle.", + "Utilize the left arm to hold the dark drink bottle with logo and shake it.", + "Shake the bottle with white neck and red top thoroughly after grabbing it.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "Shake the bottle with ridges on bottom after lifting it.", + "Lift the long thin bottle and shake it gently.", + "Use the left arm to hold the long thin bottle and shake it.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grab the long thin bottle using the left arm, then shake.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Lift the narrow-necked bottle with the left arm and shake it.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Grab the red-capped bottle and move it to shake.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Grab the plastic drink bottle carefully and shake.", + "Lift the hand-sized soda bottle and shake it thoroughly.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Shake the narrow-necked bottle after grabbing it.", + "Use the left arm to grab the Coca-Cola bottle and shake it.", + "Secure the narrow-necked bottle and perform a shake.", + "Pick the bottle with white neck and red top, shake it with the left arm.", + "Use the left arm to lift and shake the red-capped bottle.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "With the left arm, pick the brown bottle with red label and shake properly.", + "Hold the brown bottle with red label steady, then shake it.", + "Lift up the dark drink bottle with logo using the left arm, then shake.", + "Hold the brown bottle with red label and shake it properly.", + "Pick the long thin bottle up using the left arm and shake it.", + "Grab the red-capped bottle and give it a shake.", + "Use the left arm to grab the plastic drink bottle and shake properly.", + "Hold the plastic drink bottle with the left arm and shake lightly.", + "Grab the smooth bottle with red lid and shake it steadily.", + "Pick up the red-capped bottle and shake it well.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Lift the bottle with white neck and red top with the left arm and give it a shake.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Hold the medium dark brown bottle, shake it briefly.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grip the bottle with ridges on bottom using the left arm and shake.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Lift the red-capped bottle with the left arm and shake.", + "Shake the the brown bottle with red label properly after lifting.", + "Pick up the medium dark brown bottle and shake it.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Utilize the left arm to hold the narrow-necked bottle and shake it.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Shake the red-capped bottle after holding it firmly.", + "Pick the brown bottle with red label up with the left arm and shake.", + "Shake the dark drink bottle with logo after lifting it.", + "Lift the Coca-Cola bottle and shake it gently.", + "Use the left arm to hold the medium dark brown bottle and shake it.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Shake the bottle with ridges on bottom using the left arm after grabbing.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Shake the medium dark brown bottle after grabbing it.", + "Grab the medium dark brown bottle using the left arm, then shake.", + "Catch the brown bottle with red label and shake it instantly.", + "Lift the long thin bottle with the left arm and shake it.", + "Using the left arm, shake the plastic drink bottle and then place it back.", + "Grab the brown bottle with red label and move it to shake.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Grab the brown bottle with red label carefully and shake.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Shake the Coca-Cola bottle after grabbing it.", + "Use the left arm to grab the Coca-Cola bottle and shake it.", + "Secure the brown bottle with red label and perform a shake.", + "Pick the brown bottle with red label, shake it with the left arm.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Take the dark drink bottle with logo using the left arm and give it a shake.", + "Grab and shake the plastic drink bottle using the left arm.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "With the left arm, pick the bottle with ridges on bottom and shake properly.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Hold the plastic drink bottle and shake it properly." + ], + "unseen": [ + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode81.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode81.json new file mode 100644 index 0000000000000000000000000000000000000000..9b92ebd601f1d6576fa55af5a7e5113275f41f42 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode81.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to hold the medium green bottle and shake it.", + "Use the left arm to grab the plastic bottle and shake it.", + "Use the left arm to lift and shake the medium green bottle.", + "Pick up the medium green bottle with capped neck and shake it.", + "Hold and shake the the bottle with rounded neck carefully.", + "Hold the medium green bottle and shake it properly.", + "Lift the bottle with white printed label and shake it gently.", + "Shake the bottle with rounded neck after lifting it.", + "Grab and shake the bottle with ridges near base using the left arm.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Shake the smooth green bottle after holding it firmly.", + "Grab the green bottle with indented base and move it to shake.", + "Utilize the left arm to hold the bottle with ridges near base and shake it.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Pick the medium green bottle up using the left arm and shake it.", + "Use the left arm to pick and shake the medium green bottle with capped neck.", + "Shake the medium-sized green bottle using the left arm after grabbing.", + "Shake the bottle with rounded neck firmly after grabbing.", + "Lift the handheld green bottle with the left arm and shake.", + "Pick the green bottle with indented base and perform shaking motion.", + "Grip the green bottle with indented base using the left arm and shake.", + "Hold the smooth green plastic bottle with the left arm and shake lightly.", + "Lift up the medium green bottle using the left arm, then shake.", + "Hold the plastic bottle steady, then shake it.", + "Grab the bottle with narrow top and give it a shake.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Using the left arm, shake the smooth green plastic bottle and then place it back.", + "Grab the bottle with narrow top using the left arm, then shake.", + "Lift the handheld green bottle with the left arm and shake it.", + "Shake the medium-sized green bottle after grabbing it.", + "Hold the bottle with white printed label, shake it briefly.", + "Grasp the smooth green bottle with the left arm and shake it.", + "Grab the bottle with white printed label carefully and shake.", + "With the left arm, pick the medium green bottle with capped neck and shake properly.", + "Catch the bottle with ridges near base and shake it instantly.", + "Grab the handheld green bottle with the left arm and shake.", + "Use the left arm to grab the bottle with white printed label and shake properly.", + "Shake the smooth green bottle after grabbing it.", + "Secure the bottle with narrow top, shake it, and place it down.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Grab the handheld green bottle and shake it steadily.", + "Secure the smooth green bottle and perform a shake.", + "Shake the the bottle with white printed label properly after lifting.", + "Lift the bottle with white printed label with the left arm and give it a shake.", + "Pick the medium green bottle, shake it with the left arm.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Pick up the bottle with rounded neck and shake it well.", + "Take the handheld green bottle using the left arm and give it a shake.", + "Pick the bottle with rounded neck up with the left arm and shake.", + "Use the left arm to hold the green bottle with indented base and shake it.", + "Use the left arm to grab the medium green bottle with capped neck and shake it.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Pick up the medium green bottle with capped neck and shake it.", + "Hold and shake the the bottle with ridges near base carefully.", + "Hold the medium green bottle and shake it properly.", + "Lift the medium-sized green bottle and shake it gently.", + "Shake the medium green bottle after lifting it.", + "Grab and shake the smooth green bottle using the left arm.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Shake the medium-sized green bottle after holding it firmly.", + "Grab the bottle with narrow top and move it to shake.", + "Utilize the left arm to hold the smooth green bottle and shake it.", + "Use the left arm to lift and shake the medium green bottle with capped neck.", + "Pick the bottle with rounded neck up using the left arm and shake it.", + "Use the left arm to pick and shake the medium green bottle with capped neck.", + "Shake the medium-sized green bottle using the left arm after grabbing.", + "Shake the medium green bottle firmly after grabbing.", + "Lift the medium green bottle with the left arm and shake.", + "Pick the medium-sized green bottle and perform shaking motion.", + "Grip the green bottle with indented base using the left arm and shake.", + "Hold the green bottle with indented base with the left arm and shake lightly.", + "Lift up the handheld green bottle using the left arm, then shake.", + "Hold the bottle with rounded neck steady, then shake it.", + "Grab the smooth green bottle and give it a shake.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Using the left arm, shake the smooth green bottle and then place it back.", + "Grab the smooth green bottle using the left arm, then shake.", + "Lift the handheld green bottle with the left arm and shake it.", + "Shake the bottle with white printed label after grabbing it.", + "Hold the bottle with ridges near base, shake it briefly.", + "Grasp the medium-sized green bottle with the left arm and shake it.", + "Grab the medium green bottle carefully and shake.", + "With the left arm, pick the bottle with rounded neck and shake properly.", + "Catch the bottle with white printed label and shake it instantly.", + "Grab the bottle with ridges near base with the left arm and shake.", + "Use the left arm to grab the medium green bottle with capped neck and shake properly.", + "Shake the bottle with rounded neck after grabbing it.", + "Secure the plastic bottle, shake it, and place it down.", + "Use the left arm to lift and shake the plastic bottle.", + "Shake the green bottle with indented base after grabbing it.", + "Grab the smooth green bottle and shake it steadily.", + "Secure the plastic bottle and perform a shake.", + "Shake the the green bottle with indented base properly after lifting.", + "Lift the green bottle with indented base with the left arm and give it a shake.", + "Pick the medium green bottle, shake it with the left arm.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Pick up the smooth green plastic bottle and shake it well.", + "Take the medium-sized green bottle using the left arm and give it a shake.", + "Pick the medium green bottle up with the left arm and shake." + ], + "unseen": [ + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with the left arm and shake.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode82.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode82.json new file mode 100644 index 0000000000000000000000000000000000000000..4098e3f1e443d1acfaf882373a456d227e1220d4 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode82.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with ridges near base thoroughly after grabbing it.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Lift the medium green bottle and shake it thoroughly.", + "Pick the bottle with narrow top, shake it with the left arm.", + "Secure the medium green bottle, shake it, and place it down.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "With the left arm, pick the bottle with narrow top and shake properly.", + "Use the left arm to grab the bottle with narrow top and shake properly.", + "Use the left arm to lift and shake the smooth green bottle.", + "Grab the bottle with rounded neck and shake it steadily.", + "Lift the medium green bottle with capped neck with the left arm and shake.", + "Lift the bottle with white printed label with the left arm and shake it.", + "Grab the medium-sized green bottle and give it a shake.", + "Shake the bottle with rounded neck after lifting it.", + "Grip the bottle with ridges near base using the left arm and shake.", + "Lift the smooth green plastic bottle with the left arm and give it a shake.", + "Lift up the bottle with white printed label using the left arm, then shake.", + "Shake the medium-sized green bottle using the left arm after grabbing.", + "Pick the green bottle with indented base up using the left arm and shake it.", + "Pick up the handheld green bottle and shake it.", + "Pick the green bottle with indented base and perform shaking motion.", + "Hold the plastic bottle and shake it properly.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Take the bottle with rounded neck using the left arm and give it a shake.", + "Shake the the bottle with ridges near base properly after lifting.", + "Shake the bottle with ridges near base after grabbing it.", + "Use the left arm to hold the medium green bottle and shake it.", + "Catch the bottle with ridges near base and shake it instantly.", + "Shake the bottle with narrow top after grabbing it.", + "Shake the green bottle with indented base after holding it firmly.", + "Hold the handheld green bottle with the left arm and shake lightly.", + "Grasp the medium-sized green bottle with the left arm and shake it.", + "Utilize the left arm to hold the medium green bottle and shake it.", + "Hold the medium-sized green bottle, shake it briefly.", + "Grab and shake the bottle with narrow top using the left arm.", + "Use the left arm to grab the green bottle with indented base and shake it.", + "Using the left arm, shake the bottle with white printed label and then place it back.", + "Grab the smooth green plastic bottle carefully and shake.", + "Lift the bottle with rounded neck and shake it gently.", + "Pick the plastic bottle up with the left arm and shake.", + "Grab the medium green bottle and move it to shake.", + "Pick up the bottle with narrow top and shake it well.", + "Hold the bottle with ridges near base steady, then shake it.", + "Shake the medium green bottle after grabbing it.", + "Hold and shake the the smooth green plastic bottle carefully.", + "Grab the bottle with rounded neck with the left arm and shake.", + "Use the left arm to pick and shake the bottle with narrow top.", + "Grab the plastic bottle using the left arm, then shake.", + "Secure the handheld green bottle and perform a shake.", + "Shake the smooth green bottle firmly after grabbing.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Pick the bottle with ridges near base, shake it with the left arm.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Grab the smooth green bottle firmly, shake it, and put it down.", + "With the left arm, pick the bottle with narrow top and shake properly.", + "Use the left arm to grab the handheld green bottle and shake properly.", + "Use the left arm to lift and shake the bottle with rounded neck.", + "Grab the bottle with ridges near base and shake it steadily.", + "Lift the green bottle with indented base with the left arm and shake.", + "Lift the bottle with narrow top with the left arm and shake it.", + "Grab the plastic bottle and give it a shake.", + "Shake the plastic bottle after lifting it.", + "Grip the bottle with narrow top using the left arm and shake.", + "Lift the medium green bottle with the left arm and give it a shake.", + "Lift up the bottle with narrow top using the left arm, then shake.", + "Shake the medium green bottle using the left arm after grabbing.", + "Pick the medium-sized green bottle up using the left arm and shake it.", + "Pick up the green bottle with indented base and shake it.", + "Pick the bottle with narrow top and perform shaking motion.", + "Hold the bottle with white printed label and shake it properly.", + "Use the left arm to lift and shake the handheld green bottle.", + "Take the medium green bottle with capped neck using the left arm and give it a shake.", + "Shake the the medium-sized green bottle properly after lifting.", + "Shake the bottle with narrow top after grabbing it.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Catch the bottle with rounded neck and shake it instantly.", + "Shake the smooth green bottle after grabbing it.", + "Shake the smooth green bottle after holding it firmly.", + "Hold the bottle with rounded neck with the left arm and shake lightly.", + "Grasp the smooth green plastic bottle with the left arm and shake it.", + "Utilize the left arm to hold the plastic bottle and shake it.", + "Hold the medium-sized green bottle, shake it briefly.", + "Grab and shake the medium-sized green bottle using the left arm.", + "Use the left arm to grab the medium green bottle and shake it.", + "Using the left arm, shake the green bottle with indented base and then place it back.", + "Grab the medium-sized green bottle carefully and shake.", + "Lift the plastic bottle and shake it gently.", + "Pick the bottle with white printed label up with the left arm and shake.", + "Grab the plastic bottle and move it to shake.", + "Pick up the smooth green bottle and shake it well.", + "Hold the bottle with ridges near base steady, then shake it.", + "Shake the medium-sized green bottle after grabbing it.", + "Hold and shake the the medium green bottle with capped neck carefully.", + "Grab the bottle with ridges near base with the left arm and shake.", + "Use the left arm to pick and shake the smooth green plastic bottle.", + "Grab the bottle with ridges near base using the left arm, then shake.", + "Secure the smooth green plastic bottle and perform a shake.", + "Shake the bottle with rounded neck firmly after grabbing." + ], + "unseen": [ + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to grab the green bottle and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle with white label after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with the left arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the left arm and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Shake the green bottle after picking it with the left arm.", + "Use the left arm to grab the green bottle with white label and shake.", + "Grab the green bottle with white label and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode83.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode83.json new file mode 100644 index 0000000000000000000000000000000000000000..d3e01a8518aba1eafa87a057662f3db02df96bbf --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode83.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the smooth bottle with red lid with the left arm and shake.", + "Shake the hand-sized soda bottle firmly after grabbing.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Lift the narrow-necked bottle and shake it gently.", + "Pick the narrow-necked bottle up using the left arm and shake it.", + "Pick the long thin bottle, shake it with the left arm.", + "Grab the red-capped bottle carefully and shake.", + "Lift the brown bottle with red label with the left arm and shake it.", + "Secure the hand-sized soda bottle and perform a shake.", + "Shake the the plastic drink bottle properly after lifting.", + "Hold the medium dark brown bottle steady, then shake it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Shake the narrow-necked bottle using the left arm after grabbing.", + "Take the red-capped bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Shake the hand-sized soda bottle after grabbing it.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Use the left arm to hold the bottle with ridges on bottom and shake it.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Shake the narrow-necked bottle after lifting it.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Pick the plastic drink bottle up with the left arm and shake.", + "With the left arm, pick the dark drink bottle with logo and shake properly.", + "Lift the dark drink bottle with logo with the left arm and give it a shake.", + "Hold the red-capped bottle and shake it properly.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Grab the brown bottle with red label and move it to shake.", + "Using the left arm, shake the narrow-necked bottle and then place it back.", + "Grab and shake the plastic drink bottle using the left arm.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Grip the red-capped bottle using the left arm and shake.", + "Lift up the hand-sized soda bottle using the left arm, then shake.", + "Pick up the plastic drink bottle and shake it well.", + "Pick up the hand-sized soda bottle and shake it.", + "Grab the plastic drink bottle and shake it steadily.", + "Use the left arm to grab the narrow-necked bottle and shake it.", + "Utilize the left arm to hold the hand-sized soda bottle and shake it.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Grab the plastic drink bottle and give it a shake.", + "Secure the red-capped bottle, shake it, and place it down.", + "Grasp the smooth bottle with red lid with the left arm and shake it.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Shake the narrow-necked bottle after grabbing it.", + "Grab the smooth bottle with red lid using the left arm, then shake.", + "Use the left arm to pick and shake the plastic drink bottle.", + "Shake the dark drink bottle with logo after grabbing it.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Hold the long thin bottle, shake it briefly.", + "Grab the smooth bottle with red lid with the left arm and shake.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Hold and shake the the red-capped bottle carefully.", + "Pick the long thin bottle and perform shaking motion.", + "Lift the plastic drink bottle and shake it gently.", + "Pick the medium dark brown bottle up using the left arm and shake it.", + "Pick the dark drink bottle with logo, shake it with the left arm.", + "Grab the plastic drink bottle carefully and shake.", + "Lift the red-capped bottle with the left arm and shake it.", + "Secure the narrow-necked bottle and perform a shake.", + "Shake the the red-capped bottle properly after lifting.", + "Hold the brown bottle with red label steady, then shake it.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Shake the plastic drink bottle using the left arm after grabbing.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Shake the medium dark brown bottle after grabbing it.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Catch the narrow-necked bottle and shake it instantly.", + "Use the left arm to hold the hand-sized soda bottle and shake it.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Shake the narrow-necked bottle after lifting it.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "With the left arm, pick the hand-sized soda bottle and shake properly.", + "Lift the medium dark brown bottle with the left arm and give it a shake.", + "Hold the Coca-Cola bottle and shake it properly.", + "Use the left arm to grab the brown bottle with red label and shake properly.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Grab and shake the long thin bottle using the left arm.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Grip the Coca-Cola bottle using the left arm and shake.", + "Lift up the medium dark brown bottle using the left arm, then shake.", + "Pick up the red-capped bottle and shake it well.", + "Pick up the red-capped bottle and shake it.", + "Grab the narrow-necked bottle and shake it steadily.", + "Use the left arm to grab the bottle with white neck and red top and shake it.", + "Utilize the left arm to hold the brown bottle with red label and shake it.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Grab the smooth bottle with red lid and give it a shake.", + "Secure the hand-sized soda bottle, shake it, and place it down.", + "Grasp the bottle with ridges on bottom with the left arm and shake it.", + "Shake the plastic drink bottle after holding it firmly.", + "Shake the bottle with white neck and red top after grabbing it.", + "Grab the red-capped bottle using the left arm, then shake.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Shake the hand-sized soda bottle after grabbing it.", + "Lift the long thin bottle with the left arm and shake.", + "Hold the Coca-Cola bottle, shake it briefly." + ], + "unseen": [ + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the brown bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the brown bottle and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode84.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode84.json new file mode 100644 index 0000000000000000000000000000000000000000..a009a0ea695e780d4d3f47bf1992bf2fc354ea1d --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode84.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to hold the bottle with ridges on bottom and shake it.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Grab the plastic drink bottle using the left arm, then shake.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Lift the medium dark brown bottle and shake it gently.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Shake the the hand-sized soda bottle properly after lifting.", + "Grab the medium dark brown bottle carefully and shake.", + "Pick up the narrow-necked bottle and shake it.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Secure the hand-sized soda bottle and perform a shake.", + "Grab and shake the bottle with ridges on bottom using the left arm.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "Hold the long thin bottle and shake it properly.", + "Lift the red-capped bottle with the left arm and shake it.", + "Pick the bottle with ridges on bottom up with the left arm and shake.", + "Grip the narrow-necked bottle using the left arm and shake.", + "Grasp the plastic drink bottle with the left arm and shake it.", + "Use the left arm to grab the dark drink bottle with logo and shake properly.", + "Grab the brown bottle with red label with the left arm and shake.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Use the left arm to pick and shake the Coca-Cola bottle.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Pick the medium dark brown bottle, shake it with the left arm.", + "Hold the long thin bottle with the left arm and shake lightly.", + "Use the left arm to lift and shake the red-capped bottle.", + "Hold the brown bottle with red label, shake it briefly.", + "Shake the narrow-necked bottle after grabbing it.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Lift up the red-capped bottle using the left arm, then shake.", + "With the left arm, pick the Coca-Cola bottle and shake properly.", + "Grab the medium dark brown bottle and shake it steadily.", + "Utilize the left arm to hold the hand-sized soda bottle and shake it.", + "Lift the hand-sized soda bottle with the left arm and give it a shake.", + "Hold and shake the the plastic drink bottle carefully.", + "Pick the red-capped bottle and perform shaking motion.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Pick up the dark drink bottle with logo and shake it well.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Hold the red-capped bottle steady, then shake it.", + "Using the left arm, shake the Coca-Cola bottle and then place it back.", + "Use the left arm to grab the long thin bottle and shake it.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Take the Coca-Cola bottle using the left arm and give it a shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Shake the bottle with white neck and red top after lifting it.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grab the long thin bottle and give it a shake.", + "Use the left arm to hold the narrow-necked bottle and shake it.", + "Lift the hand-sized soda bottle with the left arm and shake.", + "Grab the long thin bottle using the left arm, then shake.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Lift the long thin bottle and shake it gently.", + "Shake the long thin bottle firmly after grabbing.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Grab the hand-sized soda bottle carefully and shake.", + "Pick up the red-capped bottle and shake it.", + "Grab the long thin bottle and move it to shake.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Grab and shake the brown bottle with red label using the left arm.", + "Shake the narrow-necked bottle after holding it firmly.", + "Hold the dark drink bottle with logo and shake it properly.", + "Lift the dark drink bottle with logo with the left arm and shake it.", + "Pick the hand-sized soda bottle up with the left arm and shake.", + "Grip the Coca-Cola bottle using the left arm and shake.", + "Grasp the bottle with white neck and red top with the left arm and shake it.", + "Use the left arm to grab the smooth bottle with red lid and shake properly.", + "Grab the bottle with ridges on bottom with the left arm and shake.", + "Shake the smooth bottle with red lid thoroughly after grabbing it.", + "Use the left arm to pick and shake the long thin bottle.", + "Grab the hand-sized soda bottle firmly, shake it, and put it down.", + "Lift the red-capped bottle and shake it thoroughly.", + "Pick the red-capped bottle, shake it with the left arm.", + "Hold the bottle with white neck and red top with the left arm and shake lightly.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Hold the brown bottle with red label, shake it briefly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Pick the smooth bottle with red lid up using the left arm and shake it.", + "Lift up the red-capped bottle using the left arm, then shake.", + "With the left arm, pick the brown bottle with red label and shake properly.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Utilize the left arm to hold the long thin bottle and shake it.", + "Lift the smooth bottle with red lid with the left arm and give it a shake.", + "Hold and shake the the red-capped bottle carefully.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Catch the bottle with ridges on bottom and shake it instantly.", + "Pick up the dark drink bottle with logo and shake it well.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Hold the red-capped bottle steady, then shake it.", + "Using the left arm, shake the dark drink bottle with logo and then place it back.", + "Use the left arm to grab the narrow-necked bottle and shake it.", + "Use the left arm to lift and shake the long thin bottle.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Shake the smooth bottle with red lid after lifting it.", + "Shake the red-capped bottle after grabbing it.", + "Grab the bottle with white neck and red top and give it a shake." + ], + "unseen": [ + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick up the brown bottle with the left arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode85.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode85.json new file mode 100644 index 0000000000000000000000000000000000000000..ffa15857e39e339bf00ade4b3c2f8f0f33771b87 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode85.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium dark brown bottle with the right arm and shake.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Lift up the bottle with white neck and red top using the right arm, then shake.", + "Using the right arm, shake the long thin bottle and then place it back.", + "Pick up the plastic drink bottle and shake it well.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "Take the hand-sized soda bottle using the right arm and give it a shake.", + "Grab the plastic drink bottle and shake it steadily.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Pick the brown bottle with red label and perform shaking motion.", + "Catch the red-capped bottle and shake it instantly.", + "Lift the narrow-necked bottle and shake it thoroughly.", + "Pick up the plastic drink bottle and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Grip the red-capped bottle using the right arm and shake.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Hold and shake the the narrow-necked bottle carefully.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Lift the long thin bottle with the right arm and shake it.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Shake the bottle with ridges on bottom using the right arm after grabbing.", + "Shake the brown bottle with red label after holding it firmly.", + "Grab the brown bottle with red label and give it a shake.", + "Hold the long thin bottle, shake it briefly.", + "Shake the plastic drink bottle firmly after grabbing.", + "Use the right arm to hold the Coca-Cola bottle and shake it.", + "Hold the dark drink bottle with logo steady, then shake it.", + "Lift the brown bottle with red label with the right arm and shake.", + "Use the right arm to grab the long thin bottle and shake properly.", + "Use the right arm to lift and shake the red-capped bottle.", + "Grasp the narrow-necked bottle with the right arm and shake it.", + "Hold the bottle with white neck and red top and shake it properly.", + "Grab and shake the narrow-necked bottle using the right arm.", + "Pick the plastic drink bottle up using the right arm and shake it.", + "Use the right arm to pick and shake the smooth bottle with red lid.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Hold the Coca-Cola bottle with the right arm and shake lightly.", + "Lift the hand-sized soda bottle with the right arm and give it a shake.", + "Grab the plastic drink bottle and move it to shake.", + "Grab the red-capped bottle using the right arm, then shake.", + "Use the right arm to grab the Coca-Cola bottle and shake it.", + "Pick the smooth bottle with red lid up with the right arm and shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Shake the hand-sized soda bottle after lifting it.", + "With the right arm, pick the bottle with ridges on bottom and shake properly.", + "Shake the the medium dark brown bottle properly after lifting.", + "Grab the long thin bottle with the right arm and shake.", + "Lift the dark drink bottle with logo and shake it gently.", + "Lift up the dark drink bottle with logo using the right arm, then shake.", + "Using the right arm, shake the red-capped bottle and then place it back.", + "Pick up the hand-sized soda bottle and shake it well.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Take the Coca-Cola bottle using the right arm and give it a shake.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Grab the smooth bottle with red lid carefully and shake.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Lift the dark drink bottle with logo and shake it thoroughly.", + "Pick up the red-capped bottle and shake it.", + "Shake the red-capped bottle after grabbing it.", + "Grip the bottle with white neck and red top using the right arm and shake.", + "Secure the hand-sized soda bottle and perform a shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Shake the medium dark brown bottle thoroughly after grabbing it.", + "Pick the plastic drink bottle, shake it with the right arm.", + "Hold and shake the the red-capped bottle carefully.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Lift the narrow-necked bottle with the right arm and shake it.", + "Utilize the right arm to hold the narrow-necked bottle and shake it.", + "Shake the bottle with ridges on bottom using the right arm after grabbing.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Grab the red-capped bottle and give it a shake.", + "Hold the red-capped bottle, shake it briefly.", + "Shake the brown bottle with red label firmly after grabbing.", + "Use the right arm to hold the Coca-Cola bottle and shake it.", + "Hold the long thin bottle steady, then shake it.", + "Lift the bottle with ridges on bottom with the right arm and shake.", + "Use the right arm to grab the long thin bottle and shake properly.", + "Use the right arm to lift and shake the red-capped bottle.", + "Grasp the narrow-necked bottle with the right arm and shake it.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Grab and shake the long thin bottle using the right arm.", + "Pick the brown bottle with red label up using the right arm and shake it.", + "Use the right arm to pick and shake the medium dark brown bottle.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Hold the brown bottle with red label with the right arm and shake lightly.", + "Lift the bottle with white neck and red top with the right arm and give it a shake.", + "Grab the Coca-Cola bottle and move it to shake.", + "Grab the bottle with ridges on bottom using the right arm, then shake.", + "Use the right arm to grab the hand-sized soda bottle and shake it.", + "Pick the plastic drink bottle up with the right arm and shake.", + "Shake the red-capped bottle after grabbing it.", + "Secure the Coca-Cola bottle, shake it, and place it down.", + "Shake the narrow-necked bottle after lifting it.", + "With the right arm, pick the red-capped bottle and shake properly.", + "Shake the the medium dark brown bottle properly after lifting." + ], + "unseen": [ + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and shake it.", + "Use the right arm to pick the plastic soda bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode86.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode86.json new file mode 100644 index 0000000000000000000000000000000000000000..b5d8a32f61ba069e0f2cac6fc066faa9c106c548 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode86.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grip the narrow-necked bottle using the left arm and shake.", + "Grab the smooth bottle with red lid with the left arm and shake.", + "Grab the Coca-Cola bottle and move it to shake.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Catch the medium dark brown bottle and shake it instantly.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Hold the brown bottle with red label with the left arm and shake lightly.", + "Secure the medium dark brown bottle and perform a shake.", + "Grab the medium dark brown bottle and shake it steadily.", + "Take the brown bottle with red label using the left arm and give it a shake.", + "Pick the red-capped bottle up using the left arm and shake it.", + "Lift the bottle with white neck and red top and shake it thoroughly.", + "Grab the brown bottle with red label carefully and shake.", + "Shake the red-capped bottle firmly after grabbing.", + "With the left arm, pick the medium dark brown bottle and shake properly.", + "Shake the Coca-Cola bottle after grabbing it.", + "Use the left arm to pick and shake the medium dark brown bottle.", + "Lift up the Coca-Cola bottle using the left arm, then shake.", + "Shake the Coca-Cola bottle after lifting it.", + "Pick up the hand-sized soda bottle and shake it well.", + "Hold the brown bottle with red label and shake it properly.", + "Grasp the hand-sized soda bottle with the left arm and shake it.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Grab the dark drink bottle with logo using the left arm, then shake.", + "Shake the brown bottle with red label after grabbing it.", + "Utilize the left arm to hold the hand-sized soda bottle and shake it.", + "Lift the red-capped bottle with the left arm and shake.", + "Grab and shake the hand-sized soda bottle using the left arm.", + "Lift the hand-sized soda bottle with the left arm and shake it.", + "Shake the dark drink bottle with logo after grabbing it.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Hold the medium dark brown bottle steady, then shake it.", + "Shake the the narrow-necked bottle properly after lifting.", + "Use the left arm to lift and shake the medium dark brown bottle.", + "Grab the plastic drink bottle and give it a shake.", + "Shake the brown bottle with red label after holding it firmly.", + "Pick the plastic drink bottle, shake it with the left arm.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Pick the Coca-Cola bottle up with the left arm and shake.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Lift the brown bottle with red label with the left arm and give it a shake.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Hold and shake the the brown bottle with red label carefully.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Use the left arm to grab the Coca-Cola bottle and shake properly.", + "Use the left arm to hold the long thin bottle and shake it.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Pick up the dark drink bottle with logo and shake it.", + "Lift the red-capped bottle and shake it gently.", + "Use the left arm to grab the medium dark brown bottle and shake it.", + "Grip the smooth bottle with red lid using the left arm and shake.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Grab the plastic drink bottle and move it to shake.", + "Grab the smooth bottle with red lid firmly, shake it, and put it down.", + "Catch the dark drink bottle with logo and shake it instantly.", + "Use the left arm to lift and shake the plastic drink bottle.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Secure the dark drink bottle with logo and perform a shake.", + "Grab the red-capped bottle and shake it steadily.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Pick the brown bottle with red label up using the left arm and shake it.", + "Lift the red-capped bottle and shake it thoroughly.", + "Grab the long thin bottle carefully and shake.", + "Shake the plastic drink bottle firmly after grabbing.", + "With the left arm, pick the hand-sized soda bottle and shake properly.", + "Shake the narrow-necked bottle after grabbing it.", + "Use the left arm to pick and shake the bottle with ridges on bottom.", + "Lift up the red-capped bottle using the left arm, then shake.", + "Shake the hand-sized soda bottle after lifting it.", + "Pick up the red-capped bottle and shake it well.", + "Hold the long thin bottle and shake it properly.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Shake the brown bottle with red label using the left arm after grabbing.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Lift the bottle with white neck and red top with the left arm and shake.", + "Grab and shake the bottle with white neck and red top using the left arm.", + "Lift the long thin bottle with the left arm and shake it.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Hold the brown bottle with red label, shake it briefly.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Shake the the medium dark brown bottle properly after lifting.", + "Use the left arm to lift and shake the brown bottle with red label.", + "Grab the medium dark brown bottle and give it a shake.", + "Shake the bottle with white neck and red top after holding it firmly.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Pick the medium dark brown bottle and perform shaking motion.", + "Pick the red-capped bottle up with the left arm and shake.", + "Shake the plastic drink bottle thoroughly after grabbing it.", + "Lift the smooth bottle with red lid with the left arm and give it a shake.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Using the left arm, shake the smooth bottle with red lid and then place it back.", + "Use the left arm to grab the medium dark brown bottle and shake properly.", + "Use the left arm to hold the Coca-Cola bottle and shake it.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Pick up the Coca-Cola bottle and shake it.", + "Lift the hand-sized soda bottle and shake it gently.", + "Use the left arm to grab the hand-sized soda bottle and shake it." + ], + "unseen": [ + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the brown bottle and give it a shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Use the left arm to pick the brown bottle." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode87.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode87.json new file mode 100644 index 0000000000000000000000000000000000000000..363ae1184d1cb4cb9dd5d1ba09651f6d49f93ef3 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode87.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to pick and shake the narrow-necked bottle.", + "Shake the hand-sized soda bottle after lifting it.", + "Pick up the Coca-Cola bottle and shake it.", + "Utilize the left arm to hold the smooth bottle with red lid and shake it.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Grab the smooth bottle with red lid carefully and shake.", + "Shake the red-capped bottle firmly after grabbing.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Grab and shake the long thin bottle using the left arm.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Catch the plastic drink bottle and shake it instantly.", + "Hold the narrow-necked bottle and shake it properly.", + "Pick the bottle with ridges on bottom up using the left arm and shake it.", + "Use the left arm to lift and shake the brown bottle with red label.", + "With the left arm, pick the medium dark brown bottle and shake properly.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Pick the narrow-necked bottle up with the left arm and shake.", + "Secure the medium dark brown bottle and perform a shake.", + "Use the left arm to grab the narrow-necked bottle and shake it.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Shake the brown bottle with red label after grabbing it.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Grab the plastic drink bottle and move it to shake.", + "Lift the medium dark brown bottle with the left arm and shake.", + "Hold the bottle with ridges on bottom steady, then shake it.", + "Use the left arm to grab the bottle with ridges on bottom and shake properly.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Pick the plastic drink bottle and perform shaking motion.", + "Using the left arm, shake the smooth bottle with red lid and then place it back.", + "Pick up the brown bottle with red label and shake it well.", + "Grasp the brown bottle with red label with the left arm and shake it.", + "Grip the red-capped bottle using the left arm and shake.", + "Take the narrow-necked bottle using the left arm and give it a shake.", + "Grab the smooth bottle with red lid with the left arm and shake.", + "Lift up the hand-sized soda bottle using the left arm, then shake.", + "Grab the smooth bottle with red lid and give it a shake.", + "Shake the red-capped bottle after grabbing it.", + "Grab the brown bottle with red label and shake it steadily.", + "Shake the bottle with white neck and red top after grabbing it.", + "Hold the hand-sized soda bottle with the left arm and shake lightly.", + "Lift the smooth bottle with red lid and shake it gently.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Shake the the red-capped bottle properly after lifting.", + "Lift the medium dark brown bottle with the left arm and shake it.", + "Use the left arm to hold the plastic drink bottle and shake it.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Lift the red-capped bottle with the left arm and give it a shake.", + "Use the left arm to pick and shake the Coca-Cola bottle.", + "Shake the narrow-necked bottle after lifting it.", + "Pick up the bottle with white neck and red top and shake it.", + "Utilize the left arm to hold the plastic drink bottle and shake it.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Grab the dark drink bottle with logo carefully and shake.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Use the left arm to lift and shake the Coca-Cola bottle.", + "Shake the red-capped bottle after holding it firmly.", + "Grab and shake the medium dark brown bottle using the left arm.", + "Pick the narrow-necked bottle, shake it with the left arm.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Hold the hand-sized soda bottle and shake it properly.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Use the left arm to lift and shake the brown bottle with red label.", + "With the left arm, pick the narrow-necked bottle and shake properly.", + "Secure the medium dark brown bottle, shake it, and place it down.", + "Pick the red-capped bottle up with the left arm and shake.", + "Secure the dark drink bottle with logo and perform a shake.", + "Use the left arm to grab the dark drink bottle with logo and shake it.", + "Use the left arm to lift and shake the dark drink bottle with logo.", + "Shake the plastic drink bottle after grabbing it.", + "Lift the Coca-Cola bottle and shake it thoroughly.", + "Grab the plastic drink bottle and move it to shake.", + "Lift the brown bottle with red label with the left arm and shake.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Use the left arm to grab the narrow-necked bottle and shake properly.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Using the left arm, shake the narrow-necked bottle and then place it back.", + "Pick up the dark drink bottle with logo and shake it well.", + "Grasp the red-capped bottle with the left arm and shake it.", + "Grip the hand-sized soda bottle using the left arm and shake.", + "Take the smooth bottle with red lid using the left arm and give it a shake.", + "Grab the dark drink bottle with logo with the left arm and shake.", + "Lift up the Coca-Cola bottle using the left arm, then shake.", + "Grab the dark drink bottle with logo and give it a shake.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Grab the brown bottle with red label and shake it steadily.", + "Shake the red-capped bottle after grabbing it.", + "Hold the narrow-necked bottle with the left arm and shake lightly.", + "Lift the brown bottle with red label and shake it gently.", + "Hold the medium dark brown bottle, shake it briefly.", + "Shake the the medium dark brown bottle properly after lifting.", + "Lift the narrow-necked bottle with the left arm and shake it.", + "Use the left arm to hold the medium dark brown bottle and shake it.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Grab the plastic drink bottle using the left arm, then shake.", + "Lift the bottle with ridges on bottom with the left arm and give it a shake." + ], + "unseen": [ + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the brown bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the brown bottle, shake it properly, then set it down.", + "Grab the brown bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Use the left arm to pick the brown bottle.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Pick and shake the the brown bottle with the left arm.", + "Grab the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Use the left arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode88.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode88.json new file mode 100644 index 0000000000000000000000000000000000000000..65af8d9d3401586eff188b0ec6c94ff4c300a41d --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode88.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to hold the bottle with white printed label and shake it.", + "Utilize the right arm to hold the bottle with rounded neck and shake it.", + "Shake the medium green bottle after holding it firmly.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Take the handheld green bottle using the right arm and give it a shake.", + "Lift the bottle with white printed label with the right arm and give it a shake.", + "Grab the green bottle with indented base using the right arm, then shake.", + "Grab and shake the handheld green bottle using the right arm.", + "Grab the bottle with narrow top and give it a shake.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Pick the smooth green bottle up with the right arm and shake.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Lift the smooth green plastic bottle with the right arm and shake it.", + "Use the right arm to grab the bottle with white printed label and shake it.", + "Lift up the medium green bottle with capped neck using the right arm, then shake.", + "Pick the bottle with ridges near base and perform shaking motion.", + "Hold the bottle with narrow top, shake it briefly.", + "Shake the bottle with rounded neck after grabbing it.", + "Use the right arm to pick and shake the medium green bottle.", + "Grab the green bottle with indented base with the right arm and shake.", + "Use the right arm to lift and shake the medium green bottle.", + "Shake the the medium green bottle properly after lifting.", + "Secure the medium-sized green bottle and perform a shake.", + "Grip the bottle with narrow top using the right arm and shake.", + "Grasp the medium green bottle with capped neck with the right arm and shake it.", + "Shake the green bottle with indented base using the right arm after grabbing.", + "Shake the plastic bottle after lifting it.", + "Using the right arm, shake the bottle with ridges near base and then place it back.", + "Pick the medium-sized green bottle, shake it with the right arm.", + "Pick the bottle with rounded neck up using the right arm and shake it.", + "Shake the medium-sized green bottle after grabbing it.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Pick up the handheld green bottle and shake it.", + "Hold the plastic bottle with the right arm and shake lightly.", + "Lift the bottle with ridges near base and shake it gently.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Hold and shake the the handheld green bottle carefully.", + "Shake the bottle with narrow top firmly after grabbing.", + "Grab the handheld green bottle carefully and shake.", + "Use the right arm to grab the handheld green bottle and shake properly.", + "Secure the bottle with rounded neck, shake it, and place it down.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Lift the smooth green plastic bottle with the right arm and shake.", + "Shake the smooth green bottle after grabbing it.", + "Hold the bottle with white printed label and shake it properly.", + "Catch the bottle with rounded neck and shake it instantly.", + "Pick up the medium green bottle and shake it well.", + "Grab the bottle with ridges near base and shake it steadily.", + "With the right arm, pick the medium-sized green bottle and shake properly.", + "Use the right arm to hold the bottle with rounded neck and shake it.", + "Utilize the right arm to hold the bottle with narrow top and shake it.", + "Shake the bottle with white printed label after holding it firmly.", + "Hold the plastic bottle steady, then shake it.", + "Take the bottle with narrow top using the right arm and give it a shake.", + "Lift the green bottle with indented base with the right arm and give it a shake.", + "Grab the bottle with white printed label using the right arm, then shake.", + "Grab and shake the bottle with rounded neck using the right arm.", + "Grab the smooth green plastic bottle and give it a shake.", + "Grab the handheld green bottle and move it to shake.", + "Pick the bottle with ridges near base up with the right arm and shake.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Lift the smooth green bottle with the right arm and shake it.", + "Use the right arm to grab the bottle with white printed label and shake it.", + "Lift up the bottle with rounded neck using the right arm, then shake.", + "Pick the handheld green bottle and perform shaking motion.", + "Hold the green bottle with indented base, shake it briefly.", + "Shake the medium green bottle after grabbing it.", + "Use the right arm to pick and shake the bottle with white printed label.", + "Grab the medium-sized green bottle with the right arm and shake.", + "Use the right arm to lift and shake the smooth green bottle.", + "Shake the the medium-sized green bottle properly after lifting.", + "Secure the handheld green bottle and perform a shake.", + "Grip the smooth green bottle using the right arm and shake.", + "Grasp the bottle with narrow top with the right arm and shake it.", + "Shake the bottle with white printed label using the right arm after grabbing.", + "Shake the green bottle with indented base after lifting it.", + "Using the right arm, shake the medium-sized green bottle and then place it back.", + "Pick the bottle with narrow top, shake it with the right arm.", + "Pick the handheld green bottle up using the right arm and shake it.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Pick up the medium green bottle and shake it.", + "Hold the medium green bottle with capped neck with the right arm and shake lightly.", + "Lift the smooth green bottle and shake it gently.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Shake the bottle with rounded neck thoroughly after grabbing it.", + "Hold and shake the the green bottle with indented base carefully.", + "Shake the smooth green bottle firmly after grabbing.", + "Grab the medium green bottle carefully and shake.", + "Use the right arm to grab the medium green bottle with capped neck and shake properly.", + "Secure the medium green bottle with capped neck, shake it, and place it down.", + "Use the right arm to lift and shake the medium green bottle.", + "Lift the bottle with narrow top with the right arm and shake.", + "Shake the bottle with narrow top after grabbing it.", + "Hold the plastic bottle and shake it properly.", + "Catch the smooth green bottle and shake it instantly.", + "Pick up the bottle with narrow top and shake it well.", + "Grab the handheld green bottle and shake it steadily.", + "With the right arm, pick the medium-sized green bottle and shake properly." + ], + "unseen": [ + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode89.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode89.json new file mode 100644 index 0000000000000000000000000000000000000000..318aef3f67aaad0cc7ea167bd6a3f7c8e6f48c85 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode89.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to hold the bottle with ridges near base and shake it.", + "Use the right arm to pick and shake the handheld green bottle.", + "Shake the green bottle with indented base after grabbing it.", + "Lift the smooth green plastic bottle with the right arm and shake it.", + "Secure the handheld green bottle and perform a shake.", + "Hold the handheld green bottle steady, then shake it.", + "Use the right arm to grab the bottle with rounded neck and shake it.", + "Grab and shake the medium-sized green bottle using the right arm.", + "Grab the bottle with white printed label and give it a shake.", + "Shake the bottle with narrow top after grabbing it.", + "Shake the bottle with white printed label firmly after grabbing.", + "Grab the plastic bottle with the right arm and shake.", + "Pick up the bottle with ridges near base and shake it.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Lift the green bottle with indented base and shake it thoroughly.", + "Grab the plastic bottle carefully and shake.", + "Grab the smooth green plastic bottle using the right arm, then shake.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Lift up the handheld green bottle using the right arm, then shake.", + "Pick the medium green bottle and perform shaking motion.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Hold the bottle with narrow top and shake it properly.", + "Pick the bottle with ridges near base up using the right arm and shake it.", + "Hold and shake the the bottle with ridges near base carefully.", + "Use the right arm to grab the bottle with narrow top and shake properly.", + "Shake the smooth green bottle after grabbing it.", + "Use the right arm to lift and shake the medium green bottle.", + "Shake the handheld green bottle after lifting it.", + "Pick up the medium-sized green bottle and shake it well.", + "Grasp the smooth green plastic bottle with the right arm and shake it.", + "Utilize the right arm to hold the green bottle with indented base and shake it.", + "Lift the handheld green bottle with the right arm and give it a shake.", + "Using the right arm, shake the medium green bottle with capped neck and then place it back.", + "Grab the green bottle with indented base and move it to shake.", + "Take the handheld green bottle using the right arm and give it a shake.", + "Grip the bottle with ridges near base using the right arm and shake.", + "Lift the bottle with rounded neck with the right arm and shake.", + "Grab the smooth green bottle and shake it steadily.", + "Shake the handheld green bottle after holding it firmly.", + "Lift the bottle with rounded neck and shake it gently.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Pick the smooth green plastic bottle up with the right arm and shake.", + "Hold the bottle with white printed label, shake it briefly.", + "With the right arm, pick the green bottle with indented base and shake properly.", + "Catch the green bottle with indented base and shake it instantly.", + "Shake the the smooth green bottle properly after lifting.", + "Shake the bottle with white printed label using the right arm after grabbing.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "Pick the medium green bottle with capped neck, shake it with the right arm.", + "Use the right arm to hold the smooth green plastic bottle and shake it.", + "Use the right arm to pick and shake the medium-sized green bottle.", + "Shake the bottle with ridges near base after grabbing it.", + "Lift the bottle with ridges near base with the right arm and shake it.", + "Secure the smooth green plastic bottle and perform a shake.", + "Hold the green bottle with indented base steady, then shake it.", + "Use the right arm to grab the green bottle with indented base and shake it.", + "Grab and shake the medium green bottle using the right arm.", + "Grab the medium green bottle and give it a shake.", + "Shake the bottle with narrow top after grabbing it.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Grab the medium green bottle with the right arm and shake.", + "Pick up the handheld green bottle and shake it.", + "Use the right arm to lift and shake the plastic bottle.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Grab the handheld green bottle carefully and shake.", + "Grab the handheld green bottle using the right arm, then shake.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Lift up the bottle with rounded neck using the right arm, then shake.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Secure the plastic bottle, shake it, and place it down.", + "Hold the bottle with rounded neck and shake it properly.", + "Pick the bottle with ridges near base up using the right arm and shake it.", + "Hold and shake the the bottle with ridges near base carefully.", + "Use the right arm to grab the medium-sized green bottle and shake properly.", + "Shake the bottle with ridges near base after grabbing it.", + "Use the right arm to lift and shake the smooth green bottle.", + "Shake the bottle with white printed label after lifting it.", + "Pick up the medium-sized green bottle and shake it well.", + "Grasp the plastic bottle with the right arm and shake it.", + "Utilize the right arm to hold the bottle with white printed label and shake it.", + "Lift the bottle with ridges near base with the right arm and give it a shake.", + "Using the right arm, shake the bottle with ridges near base and then place it back.", + "Grab the bottle with ridges near base and move it to shake.", + "Take the green bottle with indented base using the right arm and give it a shake.", + "Grip the bottle with ridges near base using the right arm and shake.", + "Lift the green bottle with indented base with the right arm and shake.", + "Grab the handheld green bottle and shake it steadily.", + "Shake the bottle with rounded neck after holding it firmly.", + "Lift the handheld green bottle and shake it gently.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Pick the bottle with ridges near base up with the right arm and shake.", + "Hold the bottle with narrow top, shake it briefly.", + "With the right arm, pick the bottle with narrow top and shake properly.", + "Catch the bottle with rounded neck and shake it instantly.", + "Shake the the green bottle with indented base properly after lifting.", + "Shake the handheld green bottle using the right arm after grabbing.", + "Hold the bottle with rounded neck with the right arm and shake lightly.", + "Pick the smooth green plastic bottle, shake it with the right arm." + ], + "unseen": [ + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with the right arm.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick and shake the the green bottle with white label with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Grab the green bottle, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode9.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..dc19f65098515b85a7856079b1d8b9e7332368e5 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the green bottle with indented base firmly after grabbing.", + "Hold and shake the the bottle with white printed label carefully.", + "Hold the bottle with rounded neck, shake it briefly.", + "Using the right arm, shake the plastic bottle and then place it back.", + "Secure the medium-sized green bottle and perform a shake.", + "Lift up the bottle with white printed label using the right arm, then shake.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Grab the plastic bottle carefully and shake.", + "Use the right arm to pick and shake the bottle with rounded neck.", + "Catch the bottle with narrow top and shake it instantly.", + "Shake the green bottle with indented base after holding it firmly.", + "Lift the medium green bottle and shake it gently.", + "Lift the smooth green plastic bottle with the right arm and shake it.", + "Shake the smooth green bottle after lifting it.", + "With the right arm, pick the medium green bottle with capped neck and shake properly.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Lift the bottle with rounded neck with the right arm and shake.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Grab the bottle with narrow top firmly, shake it, and put it down.", + "Grasp the smooth green plastic bottle with the right arm and shake it.", + "Utilize the right arm to hold the bottle with white printed label and shake it.", + "Lift the smooth green plastic bottle with the right arm and give it a shake.", + "Grab the handheld green bottle and give it a shake.", + "Use the right arm to grab the bottle with ridges near base and shake properly.", + "Pick up the handheld green bottle and shake it well.", + "Grip the bottle with rounded neck using the right arm and shake.", + "Use the right arm to hold the green bottle with indented base and shake it.", + "Lift the medium green bottle and shake it thoroughly.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Secure the medium green bottle, shake it, and place it down.", + "Grab the medium-sized green bottle using the right arm, then shake.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Grab the plastic bottle and move it to shake.", + "Hold the bottle with narrow top and shake it properly.", + "Hold the green bottle with indented base with the right arm and shake lightly.", + "Pick the bottle with rounded neck up using the right arm and shake it.", + "Grab the medium-sized green bottle with the right arm and shake.", + "Pick up the smooth green bottle and shake it.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "Shake the medium green bottle after grabbing it.", + "Take the smooth green bottle using the right arm and give it a shake.", + "Pick the plastic bottle up with the right arm and shake.", + "Pick the bottle with white printed label and perform shaking motion.", + "Shake the smooth green bottle after grabbing it.", + "Shake the green bottle with indented base after grabbing it.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Shake the the bottle with narrow top properly after lifting.", + "Grab and shake the smooth green bottle using the right arm.", + "Shake the medium green bottle with capped neck using the right arm after grabbing.", + "Pick the bottle with ridges near base, shake it with the right arm.", + "Shake the bottle with ridges near base firmly after grabbing.", + "Hold and shake the the smooth green bottle carefully.", + "Hold the handheld green bottle, shake it briefly.", + "Using the right arm, shake the handheld green bottle and then place it back.", + "Secure the green bottle with indented base and perform a shake.", + "Lift up the medium green bottle using the right arm, then shake.", + "Hold the handheld green bottle steady, then shake it.", + "Grab the bottle with white printed label carefully and shake.", + "Use the right arm to pick and shake the handheld green bottle.", + "Catch the plastic bottle and shake it instantly.", + "Shake the bottle with white printed label after holding it firmly.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Lift the green bottle with indented base with the right arm and shake it.", + "Shake the medium-sized green bottle after lifting it.", + "With the right arm, pick the bottle with white printed label and shake properly.", + "Shake the medium green bottle thoroughly after grabbing it.", + "Lift the smooth green plastic bottle with the right arm and shake.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Grasp the medium green bottle with the right arm and shake it.", + "Utilize the right arm to hold the medium green bottle with capped neck and shake it.", + "Lift the green bottle with indented base with the right arm and give it a shake.", + "Grab the bottle with ridges near base and give it a shake.", + "Use the right arm to grab the bottle with rounded neck and shake properly.", + "Pick up the bottle with white printed label and shake it well.", + "Grip the green bottle with indented base using the right arm and shake.", + "Use the right arm to hold the bottle with ridges near base and shake it.", + "Lift the plastic bottle and shake it thoroughly.", + "Use the right arm to lift and shake the handheld green bottle.", + "Secure the handheld green bottle, shake it, and place it down.", + "Grab the bottle with white printed label using the right arm, then shake.", + "Use the right arm to lift and shake the plastic bottle.", + "Grab the bottle with ridges near base and move it to shake.", + "Hold the medium green bottle with capped neck and shake it properly.", + "Hold the bottle with ridges near base with the right arm and shake lightly.", + "Pick the green bottle with indented base up using the right arm and shake it.", + "Grab the smooth green bottle with the right arm and shake.", + "Pick up the bottle with white printed label and shake it.", + "Use the right arm to grab the smooth green plastic bottle and shake it.", + "Shake the smooth green bottle after grabbing it.", + "Take the handheld green bottle using the right arm and give it a shake.", + "Pick the plastic bottle up with the right arm and shake.", + "Pick the smooth green plastic bottle and perform shaking motion.", + "Shake the bottle with ridges near base after grabbing it.", + "Shake the medium green bottle after grabbing it.", + "Grab the smooth green bottle and shake it steadily.", + "Shake the the bottle with ridges near base properly after lifting.", + "Grab and shake the handheld green bottle using the right arm.", + "Shake the smooth green plastic bottle using the right arm after grabbing.", + "Pick the green bottle with indented base, shake it with the right arm." + ], + "unseen": [ + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode90.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode90.json new file mode 100644 index 0000000000000000000000000000000000000000..1ee9a543ea79a33fd9bbe986f223bd7d052a8018 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode90.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Pick up the bottle with ridges on bottom and shake it.", + "Grab the red-capped bottle and give it a shake.", + "Take the plastic drink bottle using the right arm and give it a shake.", + "Use the right arm to hold the narrow-necked bottle and shake it.", + "Grab the smooth bottle with red lid and move it to shake.", + "Pick the dark drink bottle with logo up with the right arm and shake.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Grab the narrow-necked bottle using the right arm, then shake.", + "Utilize the right arm to hold the red-capped bottle and shake it.", + "Pick the dark drink bottle with logo, shake it with the right arm.", + "Shake the bottle with ridges on bottom after holding it firmly.", + "With the right arm, pick the smooth bottle with red lid and shake properly.", + "Lift the red-capped bottle and shake it thoroughly.", + "Pick the Coca-Cola bottle up using the right arm and shake it.", + "Use the right arm to pick and shake the narrow-necked bottle.", + "Hold and shake the the bottle with white neck and red top carefully.", + "Pick up the red-capped bottle and shake it well.", + "Using the right arm, shake the brown bottle with red label and then place it back.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Lift up the plastic drink bottle using the right arm, then shake.", + "Shake the long thin bottle firmly after grabbing.", + "Shake the narrow-necked bottle thoroughly after grabbing it.", + "Grasp the dark drink bottle with logo with the right arm and shake it.", + "Shake the dark drink bottle with logo using the right arm after grabbing.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Hold the bottle with white neck and red top with the right arm and shake lightly.", + "Catch the medium dark brown bottle and shake it instantly.", + "Lift the plastic drink bottle and shake it gently.", + "Lift the long thin bottle with the right arm and shake.", + "Grab and shake the Coca-Cola bottle using the right arm.", + "Shake the the medium dark brown bottle properly after lifting.", + "Hold the hand-sized soda bottle steady, then shake it.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Use the right arm to grab the long thin bottle and shake properly.", + "Shake the bottle with white neck and red top after grabbing it.", + "Hold the dark drink bottle with logo, shake it briefly.", + "Grab the long thin bottle carefully and shake.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Shake the brown bottle with red label after grabbing it.", + "Grab the brown bottle with red label with the right arm and shake.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Shake the dark drink bottle with logo after lifting it.", + "Lift the long thin bottle with the right arm and give it a shake.", + "Lift the bottle with ridges on bottom with the right arm and shake it.", + "Secure the medium dark brown bottle and perform a shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Use the right arm to grab the red-capped bottle and shake it.", + "Grip the brown bottle with red label using the right arm and shake.", + "Use the right arm to lift and shake the medium dark brown bottle.", + "Pick up the narrow-necked bottle and shake it.", + "Grab the plastic drink bottle and give it a shake.", + "Take the red-capped bottle using the right arm and give it a shake.", + "Use the right arm to hold the Coca-Cola bottle and shake it.", + "Grab the bottle with ridges on bottom and move it to shake.", + "Pick the narrow-necked bottle up with the right arm and shake.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Grab the long thin bottle using the right arm, then shake.", + "Utilize the right arm to hold the brown bottle with red label and shake it.", + "Pick the narrow-necked bottle, shake it with the right arm.", + "Shake the medium dark brown bottle after holding it firmly.", + "With the right arm, pick the narrow-necked bottle and shake properly.", + "Lift the bottle with ridges on bottom and shake it thoroughly.", + "Pick the plastic drink bottle up using the right arm and shake it.", + "Use the right arm to pick and shake the Coca-Cola bottle.", + "Hold and shake the the brown bottle with red label carefully.", + "Pick up the medium dark brown bottle and shake it well.", + "Using the right arm, shake the red-capped bottle and then place it back.", + "Pick the narrow-necked bottle and perform shaking motion.", + "Lift up the medium dark brown bottle using the right arm, then shake.", + "Shake the long thin bottle firmly after grabbing.", + "Shake the dark drink bottle with logo thoroughly after grabbing it.", + "Grasp the Coca-Cola bottle with the right arm and shake it.", + "Shake the bottle with white neck and red top using the right arm after grabbing.", + "Hold the medium dark brown bottle and shake it properly.", + "Hold the brown bottle with red label with the right arm and shake lightly.", + "Catch the red-capped bottle and shake it instantly.", + "Lift the bottle with white neck and red top and shake it gently.", + "Lift the bottle with ridges on bottom with the right arm and shake.", + "Grab and shake the long thin bottle using the right arm.", + "Shake the the long thin bottle properly after lifting.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Use the right arm to lift and shake the Coca-Cola bottle.", + "Use the right arm to grab the hand-sized soda bottle and shake properly.", + "Shake the red-capped bottle after grabbing it.", + "Hold the narrow-necked bottle, shake it briefly.", + "Grab the narrow-necked bottle carefully and shake.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Shake the dark drink bottle with logo after grabbing it.", + "Grab the dark drink bottle with logo with the right arm and shake.", + "Secure the narrow-necked bottle, shake it, and place it down.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Shake the Coca-Cola bottle after lifting it.", + "Lift the bottle with ridges on bottom with the right arm and give it a shake.", + "Lift the hand-sized soda bottle with the right arm and shake it.", + "Secure the plastic drink bottle and perform a shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Use the right arm to grab the long thin bottle and shake it.", + "Grip the brown bottle with red label using the right arm and shake." + ], + "unseen": [ + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the brown bottle and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Use the right arm to pick the brown bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Pick up the brown bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode91.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode91.json new file mode 100644 index 0000000000000000000000000000000000000000..279662952be34265f6e2a8e04f222a7cd6975774 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode91.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the bottle with narrow top after grabbing it.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Shake the bottle with rounded neck after grabbing it.", + "Grab the smooth green plastic bottle carefully and shake.", + "Shake the plastic bottle after lifting it.", + "Secure the bottle with ridges near base and perform a shake.", + "Hold the bottle with narrow top with the right arm and shake lightly.", + "With the right arm, pick the handheld green bottle and shake properly.", + "Pick up the medium green bottle with capped neck and shake it.", + "Using the right arm, shake the bottle with narrow top and then place it back.", + "Grab the bottle with white printed label and give it a shake.", + "Shake the medium-sized green bottle after holding it firmly.", + "Grasp the smooth green bottle with the right arm and shake it.", + "Use the right arm to grab the handheld green bottle and shake it.", + "Catch the bottle with narrow top and shake it instantly.", + "Pick up the bottle with rounded neck and shake it well.", + "Use the right arm to pick and shake the bottle with rounded neck.", + "Grab the medium green bottle and shake it steadily.", + "Secure the handheld green bottle, shake it, and place it down.", + "Shake the handheld green bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Grip the handheld green bottle using the right arm and shake.", + "Grab the bottle with narrow top and move it to shake.", + "Hold the bottle with ridges near base, shake it briefly.", + "Lift the smooth green bottle with the right arm and shake.", + "Pick the bottle with white printed label up using the right arm and shake it.", + "Shake the bottle with narrow top using the right arm after grabbing.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Grab and shake the medium-sized green bottle using the right arm.", + "Pick the medium green bottle up with the right arm and shake.", + "Grab the green bottle with indented base with the right arm and shake.", + "Lift up the plastic bottle using the right arm, then shake.", + "Hold and shake the the smooth green bottle carefully.", + "Hold the medium-sized green bottle steady, then shake it.", + "Take the green bottle with indented base using the right arm and give it a shake.", + "Utilize the right arm to hold the medium-sized green bottle and shake it.", + "Shake the the handheld green bottle properly after lifting.", + "Use the right arm to hold the medium green bottle and shake it.", + "Lift the plastic bottle and shake it thoroughly.", + "Use the right arm to grab the medium green bottle and shake properly.", + "Hold the green bottle with indented base and shake it properly.", + "Shake the bottle with narrow top after grabbing it.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Lift the handheld green bottle with the right arm and shake it.", + "Pick the medium-sized green bottle, shake it with the right arm.", + "Grab the green bottle with indented base using the right arm, then shake.", + "Lift the bottle with ridges near base and shake it gently.", + "Lift the bottle with narrow top with the right arm and give it a shake.", + "Use the right arm to lift and shake the handheld green bottle.", + "Pick the bottle with narrow top and perform shaking motion.", + "Shake the bottle with ridges near base after grabbing it.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Shake the bottle with ridges near base after grabbing it.", + "Grab the medium green bottle carefully and shake.", + "Shake the medium green bottle after lifting it.", + "Secure the medium green bottle with capped neck and perform a shake.", + "Hold the plastic bottle with the right arm and shake lightly.", + "With the right arm, pick the bottle with rounded neck and shake properly.", + "Pick up the bottle with white printed label and shake it.", + "Using the right arm, shake the bottle with rounded neck and then place it back.", + "Grab the green bottle with indented base and give it a shake.", + "Shake the medium green bottle after holding it firmly.", + "Grasp the bottle with white printed label with the right arm and shake it.", + "Use the right arm to grab the green bottle with indented base and shake it.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Pick up the bottle with ridges near base and shake it well.", + "Use the right arm to pick and shake the smooth green bottle.", + "Grab the plastic bottle and shake it steadily.", + "Secure the smooth green plastic bottle, shake it, and place it down.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Grip the bottle with narrow top using the right arm and shake.", + "Grab the medium green bottle with capped neck and move it to shake.", + "Hold the green bottle with indented base, shake it briefly.", + "Lift the smooth green bottle with the right arm and shake.", + "Pick the bottle with ridges near base up using the right arm and shake it.", + "Shake the medium-sized green bottle using the right arm after grabbing.", + "Use the right arm to lift and shake the medium green bottle.", + "Grab and shake the bottle with white printed label using the right arm.", + "Pick the medium green bottle with capped neck up with the right arm and shake.", + "Grab the smooth green bottle with the right arm and shake.", + "Lift up the medium green bottle with capped neck using the right arm, then shake.", + "Hold and shake the the medium green bottle carefully.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Take the smooth green plastic bottle using the right arm and give it a shake.", + "Utilize the right arm to hold the smooth green bottle and shake it.", + "Shake the the plastic bottle properly after lifting.", + "Use the right arm to hold the bottle with white printed label and shake it.", + "Lift the medium-sized green bottle and shake it thoroughly.", + "Use the right arm to grab the bottle with rounded neck and shake properly.", + "Hold the plastic bottle and shake it properly.", + "Shake the smooth green plastic bottle after grabbing it.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Lift the handheld green bottle with the right arm and shake it.", + "Pick the green bottle with indented base, shake it with the right arm.", + "Grab the handheld green bottle using the right arm, then shake.", + "Lift the medium green bottle and shake it gently.", + "Lift the bottle with ridges near base with the right arm and give it a shake.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Pick the bottle with rounded neck and perform shaking motion." + ], + "unseen": [ + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle with white label and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Use the right arm to pick the green bottle.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle with white label and shake it.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle and give it a shake.", + "Use the right arm to grab the green bottle and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode92.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode92.json new file mode 100644 index 0000000000000000000000000000000000000000..f51499c15b5eff2bfb97e035ed0a9795f895b343 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode92.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the handheld green bottle, shake it briefly.", + "Hold the medium-sized green bottle with the left arm and shake lightly.", + "Grasp the bottle with white printed label with the left arm and shake it.", + "Grab the bottle with narrow top and give it a shake.", + "Pick the bottle with ridges near base up using the left arm and shake it.", + "Pick the medium green bottle with capped neck, shake it with the left arm.", + "Shake the bottle with ridges near base using the left arm after grabbing.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Pick the green bottle with indented base up with the left arm and shake.", + "Lift the medium green bottle with capped neck with the left arm and give it a shake.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Secure the bottle with white printed label, shake it, and place it down.", + "Use the left arm to lift and shake the medium-sized green bottle.", + "Use the left arm to grab the medium-sized green bottle and shake it.", + "Secure the bottle with ridges near base and perform a shake.", + "Hold the smooth green plastic bottle steady, then shake it.", + "Grab the green bottle with indented base and shake it steadily.", + "Pick up the bottle with white printed label and shake it.", + "With the left arm, pick the bottle with ridges near base and shake properly.", + "Pick the bottle with narrow top and perform shaking motion.", + "Take the smooth green bottle using the left arm and give it a shake.", + "Shake the green bottle with indented base after grabbing it.", + "Use the left arm to pick and shake the smooth green plastic bottle.", + "Lift the bottle with rounded neck and shake it gently.", + "Shake the smooth green bottle after grabbing it.", + "Grab the bottle with white printed label with the left arm and shake.", + "Grab the smooth green bottle using the left arm, then shake.", + "Use the left arm to lift and shake the plastic bottle.", + "Using the left arm, shake the green bottle with indented base and then place it back.", + "Shake the bottle with narrow top thoroughly after grabbing it.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Grip the green bottle with indented base using the left arm and shake.", + "Shake the the green bottle with indented base properly after lifting.", + "Grab the plastic bottle and move it to shake.", + "Lift up the bottle with narrow top using the left arm, then shake.", + "Hold the plastic bottle and shake it properly.", + "Shake the bottle with white printed label after lifting it.", + "Shake the plastic bottle after grabbing it.", + "Grab the bottle with white printed label firmly, shake it, and put it down.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Hold and shake the the medium-sized green bottle carefully.", + "Lift the smooth green bottle with the left arm and shake it.", + "Shake the medium green bottle after holding it firmly.", + "Catch the medium green bottle with capped neck and shake it instantly.", + "Lift the bottle with ridges near base with the left arm and shake.", + "Utilize the left arm to hold the medium green bottle with capped neck and shake it.", + "Grab and shake the bottle with ridges near base using the left arm.", + "Use the left arm to grab the medium-sized green bottle and shake properly.", + "Use the left arm to lift and shake the smooth green bottle.", + "Use the left arm to hold the smooth green bottle and shake it.", + "Hold the bottle with white printed label, shake it briefly.", + "Hold the bottle with narrow top with the left arm and shake lightly.", + "Grasp the handheld green bottle with the left arm and shake it.", + "Grab the medium-sized green bottle and give it a shake.", + "Pick the medium green bottle with capped neck up using the left arm and shake it.", + "Pick the green bottle with indented base, shake it with the left arm.", + "Shake the bottle with rounded neck using the left arm after grabbing.", + "Lift the medium green bottle with capped neck and shake it thoroughly.", + "Pick the medium green bottle with capped neck up with the left arm and shake.", + "Lift the medium green bottle with the left arm and give it a shake.", + "Grab the medium green bottle carefully and shake.", + "Secure the plastic bottle, shake it, and place it down.", + "Use the left arm to lift and shake the bottle with narrow top.", + "Use the left arm to grab the plastic bottle and shake it.", + "Secure the handheld green bottle and perform a shake.", + "Hold the green bottle with indented base steady, then shake it.", + "Grab the bottle with rounded neck and shake it steadily.", + "Pick up the bottle with white printed label and shake it.", + "With the left arm, pick the medium green bottle and shake properly.", + "Pick the handheld green bottle and perform shaking motion.", + "Take the medium green bottle using the left arm and give it a shake.", + "Shake the smooth green bottle after grabbing it.", + "Use the left arm to pick and shake the smooth green plastic bottle.", + "Lift the smooth green plastic bottle and shake it gently.", + "Shake the bottle with rounded neck after grabbing it.", + "Grab the handheld green bottle with the left arm and shake.", + "Grab the bottle with rounded neck using the left arm, then shake.", + "Use the left arm to lift and shake the smooth green bottle.", + "Using the left arm, shake the smooth green plastic bottle and then place it back.", + "Shake the bottle with white printed label thoroughly after grabbing it.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Grip the medium green bottle with capped neck using the left arm and shake.", + "Shake the the bottle with rounded neck properly after lifting.", + "Grab the bottle with white printed label and move it to shake.", + "Lift up the smooth green bottle using the left arm, then shake.", + "Hold the smooth green bottle and shake it properly.", + "Shake the smooth green plastic bottle after lifting it.", + "Shake the bottle with narrow top after grabbing it.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Pick up the bottle with white printed label and shake it well.", + "Hold and shake the the green bottle with indented base carefully.", + "Lift the plastic bottle with the left arm and shake it.", + "Shake the medium green bottle after holding it firmly.", + "Catch the bottle with narrow top and shake it instantly.", + "Lift the medium green bottle with capped neck with the left arm and shake.", + "Utilize the left arm to hold the handheld green bottle and shake it.", + "Grab and shake the medium green bottle with capped neck using the left arm.", + "Use the left arm to grab the medium-sized green bottle and shake properly.", + "Use the left arm to lift and shake the green bottle with indented base.", + "Use the left arm to hold the smooth green plastic bottle and shake it." + ], + "unseen": [ + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle and shake it.", + "Use the left arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green bottle with white label after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the left arm.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green bottle after picking it with the left arm.", + "Grab the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green bottle and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green bottle with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Use the left arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the left arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the left arm to pick the green bottle with white label.", + "Pick up the green plastic bottle with ridged bottom with the left arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the left arm.", + "Grab the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode93.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode93.json new file mode 100644 index 0000000000000000000000000000000000000000..33f056481a13c2cfd73d839dc9c94563b194c0b1 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode93.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the right arm, pick the bottle with white neck and red top and shake properly.", + "Lift the bottle with white neck and red top with the right arm and give it a shake.", + "Secure the long thin bottle and perform a shake.", + "Hold the narrow-necked bottle, shake it briefly.", + "Hold the long thin bottle and shake it properly.", + "Shake the narrow-necked bottle after holding it firmly.", + "Shake the red-capped bottle firmly after grabbing.", + "Shake the bottle with ridges on bottom using the right arm after grabbing.", + "Grab the Coca-Cola bottle and shake it steadily.", + "Shake the the medium dark brown bottle properly after lifting.", + "Utilize the right arm to hold the bottle with white neck and red top and shake it.", + "Pick the red-capped bottle, shake it with the right arm.", + "Pick the medium dark brown bottle up using the right arm and shake it.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Use the right arm to grab the dark drink bottle with logo and shake properly.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the long thin bottle.", + "Grab the medium dark brown bottle using the right arm, then shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Grab and shake the hand-sized soda bottle using the right arm.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Pick the brown bottle with red label and perform shaking motion.", + "Grab the bottle with white neck and red top and move it to shake.", + "Pick up the smooth bottle with red lid and shake it well.", + "Grip the dark drink bottle with logo using the right arm and shake.", + "Grab the bottle with ridges on bottom firmly, shake it, and put it down.", + "Grasp the long thin bottle with the right arm and shake it.", + "Grab the narrow-necked bottle and give it a shake.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Lift up the medium dark brown bottle using the right arm, then shake.", + "Lift the Coca-Cola bottle with the right arm and shake.", + "Shake the narrow-necked bottle after grabbing it.", + "Hold and shake the the brown bottle with red label carefully.", + "Use the right arm to hold the Coca-Cola bottle and shake it.", + "Use the right arm to grab the red-capped bottle and shake it.", + "Grab the bottle with ridges on bottom carefully and shake.", + "Pick the medium dark brown bottle up with the right arm and shake.", + "Use the right arm to pick and shake the bottle with white neck and red top.", + "Shake the long thin bottle after lifting it.", + "Using the right arm, shake the smooth bottle with red lid and then place it back.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Hold the plastic drink bottle with the right arm and shake lightly.", + "Pick up the bottle with ridges on bottom and shake it.", + "Lift the smooth bottle with red lid with the right arm and shake it.", + "Shake the plastic drink bottle after grabbing it.", + "Take the bottle with ridges on bottom using the right arm and give it a shake.", + "Grab the Coca-Cola bottle with the right arm and shake.", + "With the right arm, pick the medium dark brown bottle and shake properly.", + "Lift the brown bottle with red label with the right arm and give it a shake.", + "Secure the narrow-necked bottle and perform a shake.", + "Hold the long thin bottle, shake it briefly.", + "Hold the Coca-Cola bottle and shake it properly.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Shake the brown bottle with red label firmly after grabbing.", + "Shake the narrow-necked bottle using the right arm after grabbing.", + "Grab the bottle with white neck and red top and shake it steadily.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Utilize the right arm to hold the plastic drink bottle and shake it.", + "Pick the dark drink bottle with logo, shake it with the right arm.", + "Pick the long thin bottle up using the right arm and shake it.", + "Secure the long thin bottle, shake it, and place it down.", + "Use the right arm to grab the bottle with ridges on bottom and shake properly.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Grab the red-capped bottle using the right arm, then shake.", + "Shake the brown bottle with red label after grabbing it.", + "Grab and shake the long thin bottle using the right arm.", + "Use the right arm to lift and shake the hand-sized soda bottle.", + "Lift the medium dark brown bottle and shake it thoroughly.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Grab the smooth bottle with red lid and move it to shake.", + "Pick up the bottle with white neck and red top and shake it well.", + "Grip the hand-sized soda bottle using the right arm and shake.", + "Grab the bottle with white neck and red top firmly, shake it, and put it down.", + "Grasp the dark drink bottle with logo with the right arm and shake it.", + "Grab the hand-sized soda bottle and give it a shake.", + "Use the right arm to lift and shake the long thin bottle.", + "Hold the Coca-Cola bottle steady, then shake it.", + "Catch the bottle with white neck and red top and shake it instantly.", + "Lift up the narrow-necked bottle using the right arm, then shake.", + "Lift the dark drink bottle with logo with the right arm and shake.", + "Shake the Coca-Cola bottle after grabbing it.", + "Hold and shake the the brown bottle with red label carefully.", + "Use the right arm to hold the medium dark brown bottle and shake it.", + "Use the right arm to grab the medium dark brown bottle and shake it.", + "Grab the bottle with white neck and red top carefully and shake.", + "Pick the bottle with ridges on bottom up with the right arm and shake.", + "Use the right arm to pick and shake the plastic drink bottle.", + "Shake the long thin bottle after lifting it.", + "Using the right arm, shake the smooth bottle with red lid and then place it back.", + "Lift the bottle with ridges on bottom and shake it gently.", + "Hold the medium dark brown bottle with the right arm and shake lightly.", + "Pick up the bottle with white neck and red top and shake it.", + "Lift the red-capped bottle with the right arm and shake it.", + "Shake the hand-sized soda bottle after grabbing it.", + "Take the smooth bottle with red lid using the right arm and give it a shake.", + "Grab the plastic drink bottle with the right arm and shake." + ], + "unseen": [ + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Grab the bottle with red screw cap and give it a shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the brown bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the brown bottle and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Grab the brown bottle and give it a shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Pick up the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Grab the plastic soda bottle and give it a shake.", + "Shake the brown bottle after picking it with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Pick up the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode94.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode94.json new file mode 100644 index 0000000000000000000000000000000000000000..7088fb81e068af9c387e37e6583f1d07ca0425aa --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode94.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Catch the narrow-necked bottle and shake it instantly.", + "Pick the hand-sized soda bottle up with the right arm and shake.", + "Hold and shake the the brown bottle with red label carefully.", + "Lift the dark drink bottle with logo with the right arm and shake.", + "Use the right arm to grab the hand-sized soda bottle and shake properly.", + "Grip the Coca-Cola bottle using the right arm and shake.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "With the right arm, pick the hand-sized soda bottle and shake properly.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Grab the plastic drink bottle carefully and shake.", + "Hold the brown bottle with red label and shake it properly.", + "Grab and shake the hand-sized soda bottle using the right arm.", + "Take the brown bottle with red label using the right arm and give it a shake.", + "Shake the hand-sized soda bottle using the right arm after grabbing.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Use the right arm to pick and shake the medium dark brown bottle.", + "Utilize the right arm to hold the hand-sized soda bottle and shake it.", + "Lift the dark drink bottle with logo with the right arm and give it a shake.", + "Secure the smooth bottle with red lid, shake it, and place it down.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Lift the long thin bottle and shake it gently.", + "Use the right arm to lift and shake the red-capped bottle.", + "Grab the narrow-necked bottle and move it to shake.", + "Grab the medium dark brown bottle using the right arm, then shake.", + "Shake the bottle with ridges on bottom after lifting it.", + "Using the right arm, shake the bottle with ridges on bottom and then place it back.", + "Pick the bottle with ridges on bottom up using the right arm and shake it.", + "Shake the long thin bottle after grabbing it.", + "Use the right arm to grab the narrow-necked bottle and shake it.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Pick up the smooth bottle with red lid and shake it.", + "Pick the hand-sized soda bottle, shake it with the right arm.", + "Hold the brown bottle with red label steady, then shake it.", + "Lift the long thin bottle and shake it thoroughly.", + "Secure the bottle with ridges on bottom and perform a shake.", + "Lift the narrow-necked bottle with the right arm and shake it.", + "Grab the brown bottle with red label with the right arm and shake.", + "Grab the narrow-necked bottle and shake it steadily.", + "Shake the red-capped bottle thoroughly after grabbing it.", + "Hold the medium dark brown bottle with the right arm and shake lightly.", + "Grab the bottle with ridges on bottom and give it a shake.", + "Shake the hand-sized soda bottle after grabbing it.", + "Pick up the dark drink bottle with logo and shake it well.", + "Pick the bottle with ridges on bottom and perform shaking motion.", + "Use the right arm to lift and shake the long thin bottle.", + "Use the right arm to lift and shake the plastic drink bottle.", + "Grasp the long thin bottle with the right arm and shake it.", + "Shake the long thin bottle after grabbing it.", + "Use the right arm to hold the narrow-necked bottle and shake it.", + "Lift up the bottle with ridges on bottom using the right arm, then shake.", + "Catch the Coca-Cola bottle and shake it instantly.", + "Pick the long thin bottle up with the right arm and shake.", + "Hold and shake the the bottle with ridges on bottom carefully.", + "Lift the plastic drink bottle with the right arm and shake.", + "Use the right arm to grab the dark drink bottle with logo and shake properly.", + "Grip the narrow-necked bottle using the right arm and shake.", + "Shake the bottle with ridges on bottom firmly after grabbing.", + "With the right arm, pick the brown bottle with red label and shake properly.", + "Grab the long thin bottle firmly, shake it, and put it down.", + "Grab the hand-sized soda bottle carefully and shake.", + "Hold the narrow-necked bottle and shake it properly.", + "Grab and shake the medium dark brown bottle using the right arm.", + "Take the medium dark brown bottle using the right arm and give it a shake.", + "Shake the hand-sized soda bottle using the right arm after grabbing.", + "Hold the narrow-necked bottle, shake it briefly.", + "Use the right arm to pick and shake the brown bottle with red label.", + "Utilize the right arm to hold the long thin bottle and shake it.", + "Lift the narrow-necked bottle with the right arm and give it a shake.", + "Secure the plastic drink bottle, shake it, and place it down.", + "Shake the Coca-Cola bottle after holding it firmly.", + "Lift the Coca-Cola bottle and shake it gently.", + "Use the right arm to lift and shake the dark drink bottle with logo.", + "Grab the medium dark brown bottle and move it to shake.", + "Grab the brown bottle with red label using the right arm, then shake.", + "Shake the bottle with white neck and red top after lifting it.", + "Using the right arm, shake the smooth bottle with red lid and then place it back.", + "Pick the medium dark brown bottle up using the right arm and shake it.", + "Shake the long thin bottle after grabbing it.", + "Use the right arm to grab the smooth bottle with red lid and shake it.", + "Shake the the Coca-Cola bottle properly after lifting.", + "Pick up the hand-sized soda bottle and shake it.", + "Pick the brown bottle with red label, shake it with the right arm.", + "Hold the medium dark brown bottle steady, then shake it.", + "Lift the plastic drink bottle and shake it thoroughly.", + "Secure the long thin bottle and perform a shake.", + "Lift the bottle with ridges on bottom with the right arm and shake it.", + "Grab the red-capped bottle with the right arm and shake.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Shake the bottle with ridges on bottom thoroughly after grabbing it.", + "Hold the red-capped bottle with the right arm and shake lightly.", + "Grab the narrow-necked bottle and give it a shake.", + "Shake the long thin bottle after grabbing it.", + "Pick up the medium dark brown bottle and shake it well.", + "Pick the hand-sized soda bottle and perform shaking motion.", + "Use the right arm to lift and shake the narrow-necked bottle.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Grasp the red-capped bottle with the right arm and shake it.", + "Shake the brown bottle with red label after grabbing it.", + "Use the right arm to hold the brown bottle with red label and shake it.", + "Lift up the narrow-necked bottle using the right arm, then shake." + ], + "unseen": [ + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the bottle with red screw cap.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Pick up the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the plastic soda bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the brown bottle after picking it with the right arm.", + "Grab the plastic soda bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the brown bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the brown bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the right arm to grab the brown bottle and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Pick up the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the right arm to pick the brown bottle.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Shake the bottle with red screw cap after picking it with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode95.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode95.json new file mode 100644 index 0000000000000000000000000000000000000000..e6f81c512ea5d2801f7f2e299894cf57952a15e0 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode95.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Grasp the smooth bottle with red lid with the right arm and shake it.", + "Catch the red-capped bottle and shake it instantly.", + "Lift the bottle with ridges on bottom with the right arm and give it a shake.", + "Shake the medium dark brown bottle after grabbing it.", + "Use the right arm to hold the bottle with ridges on bottom and shake it.", + "Pick the bottle with white neck and red top up using the right arm and shake it.", + "Lift the smooth bottle with red lid with the right arm and shake.", + "Hold the narrow-necked bottle and shake it properly.", + "Grab the long thin bottle and shake it steadily.", + "Grab the plastic drink bottle carefully and shake.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Pick up the narrow-necked bottle and shake it.", + "Hold and shake the the smooth bottle with red lid carefully.", + "Grab the long thin bottle and give it a shake.", + "Secure the bottle with white neck and red top, shake it, and place it down.", + "Hold the bottle with white neck and red top with the right arm and shake lightly.", + "Grab the medium dark brown bottle firmly, shake it, and put it down.", + "Lift the red-capped bottle with the right arm and shake it.", + "Grab the red-capped bottle and move it to shake.", + "Shake the Coca-Cola bottle thoroughly after grabbing it.", + "Take the plastic drink bottle using the right arm and give it a shake.", + "Shake the dark drink bottle with logo after grabbing it.", + "Use the right arm to grab the dark drink bottle with logo and shake it.", + "Use the right arm to pick and shake the plastic drink bottle.", + "Shake the narrow-necked bottle firmly after grabbing.", + "Shake the long thin bottle using the right arm after grabbing.", + "Lift up the plastic drink bottle using the right arm, then shake.", + "Grab the dark drink bottle with logo using the right arm, then shake.", + "With the right arm, pick the hand-sized soda bottle and shake properly.", + "Pick up the bottle with white neck and red top and shake it well.", + "Secure the smooth bottle with red lid and perform a shake.", + "Use the right arm to lift and shake the smooth bottle with red lid.", + "Use the right arm to grab the long thin bottle and shake properly.", + "Use the right arm to lift and shake the bottle with ridges on bottom.", + "Pick the smooth bottle with red lid up with the right arm and shake.", + "Shake the bottle with white neck and red top after lifting it.", + "Utilize the right arm to hold the Coca-Cola bottle and shake it.", + "Hold the hand-sized soda bottle, shake it briefly.", + "Pick the smooth bottle with red lid, shake it with the right arm.", + "Pick the long thin bottle and perform shaking motion.", + "Shake the the smooth bottle with red lid properly after lifting.", + "Lift the hand-sized soda bottle and shake it gently.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Using the right arm, shake the hand-sized soda bottle and then place it back.", + "Grab the red-capped bottle with the right arm and shake.", + "Shake the long thin bottle after holding it firmly.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Grip the plastic drink bottle using the right arm and shake.", + "Grab and shake the medium dark brown bottle using the right arm.", + "Lift the brown bottle with red label and shake it thoroughly.", + "Grasp the long thin bottle with the right arm and shake it.", + "Catch the medium dark brown bottle and shake it instantly.", + "Lift the medium dark brown bottle with the right arm and give it a shake.", + "Shake the plastic drink bottle after grabbing it.", + "Use the right arm to hold the medium dark brown bottle and shake it.", + "Pick the red-capped bottle up using the right arm and shake it.", + "Lift the bottle with ridges on bottom with the right arm and shake.", + "Hold the medium dark brown bottle and shake it properly.", + "Grab the dark drink bottle with logo and shake it steadily.", + "Grab the narrow-necked bottle carefully and shake.", + "Use the right arm to lift and shake the red-capped bottle.", + "Pick up the red-capped bottle and shake it.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Grab the brown bottle with red label and give it a shake.", + "Secure the red-capped bottle, shake it, and place it down.", + "Hold the bottle with white neck and red top with the right arm and shake lightly.", + "Grab the dark drink bottle with logo firmly, shake it, and put it down.", + "Lift the long thin bottle with the right arm and shake it.", + "Grab the narrow-necked bottle and move it to shake.", + "Shake the brown bottle with red label thoroughly after grabbing it.", + "Take the dark drink bottle with logo using the right arm and give it a shake.", + "Shake the red-capped bottle after grabbing it.", + "Use the right arm to grab the hand-sized soda bottle and shake it.", + "Use the right arm to pick and shake the brown bottle with red label.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Shake the Coca-Cola bottle using the right arm after grabbing.", + "Lift up the medium dark brown bottle using the right arm, then shake.", + "Grab the hand-sized soda bottle using the right arm, then shake.", + "With the right arm, pick the plastic drink bottle and shake properly.", + "Pick up the smooth bottle with red lid and shake it well.", + "Secure the brown bottle with red label and perform a shake.", + "Use the right arm to lift and shake the bottle with white neck and red top.", + "Use the right arm to grab the narrow-necked bottle and shake properly.", + "Use the right arm to lift and shake the red-capped bottle.", + "Pick the bottle with white neck and red top up with the right arm and shake.", + "Shake the long thin bottle after lifting it.", + "Utilize the right arm to hold the long thin bottle and shake it.", + "Hold the smooth bottle with red lid, shake it briefly.", + "Pick the bottle with white neck and red top, shake it with the right arm.", + "Pick the dark drink bottle with logo and perform shaking motion.", + "Shake the the bottle with white neck and red top properly after lifting.", + "Lift the hand-sized soda bottle and shake it gently.", + "Shake the bottle with white neck and red top after grabbing it.", + "Using the right arm, shake the bottle with white neck and red top and then place it back.", + "Grab the narrow-necked bottle with the right arm and shake.", + "Shake the long thin bottle after holding it firmly.", + "Hold the brown bottle with red label steady, then shake it.", + "Grip the smooth bottle with red lid using the right arm and shake.", + "Grab and shake the bottle with white neck and red top using the right arm." + ], + "unseen": [ + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the bottle with red screw cap with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the plastic soda bottle and shake it.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the brown bottle and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the bottle with red screw cap with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle, shake it properly, then set it down.", + "Pick up the bottle with red screw cap and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the plastic soda bottle.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the brown bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the right arm.", + "Use the right arm to pick the brown bottle.", + "Pick up the brown bottle with the right arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Pick and shake the the plastic soda bottle with the right arm.", + "Use the right arm to grab the bottle with red screw cap and shake.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Pick up the brown bottle and shake it.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle and shake it.", + "Shake the plastic soda bottle after picking it with the right arm.", + "Use the right arm to pick the bottle with red screw cap.", + "Pick up the plastic soda bottle with the right arm and shake.", + "Grab the plastic soda bottle and shake it." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode96.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode96.json new file mode 100644 index 0000000000000000000000000000000000000000..ff1f758d021dfb0005d2cd5502679f7e7109c82e --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode96.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the plastic drink bottle and shake it.", + "Use the left arm to lift and shake the hand-sized soda bottle.", + "Lift the red-capped bottle with the left arm and shake.", + "Grab the hand-sized soda bottle and shake it steadily.", + "Utilize the left arm to hold the medium dark brown bottle and shake it.", + "Using the left arm, shake the brown bottle with red label and then place it back.", + "Lift the narrow-necked bottle with the left arm and give it a shake.", + "Use the left arm to pick and shake the dark drink bottle with logo.", + "Take the plastic drink bottle using the left arm and give it a shake.", + "Shake the brown bottle with red label after lifting it.", + "Use the left arm to lift and shake the narrow-necked bottle.", + "Grasp the medium dark brown bottle with the left arm and shake it.", + "Grab the bottle with white neck and red top and move it to shake.", + "Hold the dark drink bottle with logo with the left arm and shake lightly.", + "Grip the bottle with ridges on bottom using the left arm and shake.", + "Grab the brown bottle with red label and give it a shake.", + "Grab the smooth bottle with red lid with the left arm and shake.", + "Shake the Coca-Cola bottle using the left arm after grabbing.", + "Use the left arm to hold the smooth bottle with red lid and shake it.", + "Pick up the red-capped bottle and shake it well.", + "Shake the narrow-necked bottle after grabbing it.", + "Pick the Coca-Cola bottle, shake it with the left arm.", + "Hold and shake the the Coca-Cola bottle carefully.", + "Shake the smooth bottle with red lid firmly after grabbing.", + "Hold the bottle with white neck and red top and shake it properly.", + "Shake the bottle with ridges on bottom after grabbing it.", + "Shake the smooth bottle with red lid after holding it firmly.", + "Use the left arm to grab the bottle with white neck and red top and shake properly.", + "Grab the Coca-Cola bottle firmly, shake it, and put it down.", + "Pick up the long thin bottle and shake it.", + "Lift the long thin bottle with the left arm and shake it.", + "Pick the narrow-necked bottle up with the left arm and shake.", + "Shake the brown bottle with red label after grabbing it.", + "Secure the brown bottle with red label, shake it, and place it down.", + "Grab the plastic drink bottle carefully and shake.", + "Use the left arm to lift and shake the long thin bottle.", + "Hold the red-capped bottle steady, then shake it.", + "Catch the plastic drink bottle and shake it instantly.", + "Grab the dark drink bottle with logo using the left arm, then shake.", + "Pick the hand-sized soda bottle up using the left arm and shake it.", + "Hold the red-capped bottle, shake it briefly.", + "Lift the smooth bottle with red lid and shake it thoroughly.", + "Pick the Coca-Cola bottle and perform shaking motion.", + "Secure the smooth bottle with red lid and perform a shake.", + "Lift the red-capped bottle and shake it gently.", + "Grab and shake the long thin bottle using the left arm.", + "With the left arm, pick the plastic drink bottle and shake properly.", + "Shake the long thin bottle thoroughly after grabbing it.", + "Lift up the brown bottle with red label using the left arm, then shake.", + "Shake the the red-capped bottle properly after lifting.", + "Use the left arm to grab the smooth bottle with red lid and shake it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Lift the dark drink bottle with logo with the left arm and shake.", + "Grab the red-capped bottle and shake it steadily.", + "Utilize the left arm to hold the plastic drink bottle and shake it.", + "Using the left arm, shake the smooth bottle with red lid and then place it back.", + "Lift the long thin bottle with the left arm and give it a shake.", + "Use the left arm to pick and shake the brown bottle with red label.", + "Take the bottle with white neck and red top using the left arm and give it a shake.", + "Shake the smooth bottle with red lid after lifting it.", + "Use the left arm to lift and shake the smooth bottle with red lid.", + "Grasp the long thin bottle with the left arm and shake it.", + "Grab the Coca-Cola bottle and move it to shake.", + "Hold the bottle with ridges on bottom with the left arm and shake lightly.", + "Grip the brown bottle with red label using the left arm and shake.", + "Grab the dark drink bottle with logo and give it a shake.", + "Grab the smooth bottle with red lid with the left arm and shake.", + "Shake the dark drink bottle with logo using the left arm after grabbing.", + "Use the left arm to hold the bottle with ridges on bottom and shake it.", + "Pick up the plastic drink bottle and shake it well.", + "Shake the red-capped bottle after grabbing it.", + "Pick the red-capped bottle, shake it with the left arm.", + "Hold and shake the the hand-sized soda bottle carefully.", + "Shake the bottle with white neck and red top firmly after grabbing.", + "Hold the bottle with ridges on bottom and shake it properly.", + "Shake the plastic drink bottle after grabbing it.", + "Shake the hand-sized soda bottle after holding it firmly.", + "Use the left arm to grab the plastic drink bottle and shake properly.", + "Grab the narrow-necked bottle firmly, shake it, and put it down.", + "Pick up the long thin bottle and shake it.", + "Lift the smooth bottle with red lid with the left arm and shake it.", + "Pick the narrow-necked bottle up with the left arm and shake.", + "Shake the red-capped bottle after grabbing it.", + "Secure the dark drink bottle with logo, shake it, and place it down.", + "Grab the medium dark brown bottle carefully and shake.", + "Use the left arm to lift and shake the bottle with ridges on bottom.", + "Hold the bottle with white neck and red top steady, then shake it.", + "Catch the hand-sized soda bottle and shake it instantly.", + "Grab the brown bottle with red label using the left arm, then shake.", + "Pick the Coca-Cola bottle up using the left arm and shake it.", + "Hold the long thin bottle, shake it briefly.", + "Lift the red-capped bottle and shake it thoroughly.", + "Pick the smooth bottle with red lid and perform shaking motion.", + "Secure the narrow-necked bottle and perform a shake.", + "Lift the brown bottle with red label and shake it gently.", + "Grab and shake the brown bottle with red label using the left arm.", + "With the left arm, pick the red-capped bottle and shake properly.", + "Shake the hand-sized soda bottle thoroughly after grabbing it.", + "Lift up the smooth bottle with red lid using the left arm, then shake.", + "Shake the the red-capped bottle properly after lifting." + ], + "unseen": [ + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the brown bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the bottle with red screw cap with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Shake the bottle with red screw cap after picking it with the left arm.", + "Pick up the brown bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the plastic soda bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the plastic soda bottle.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the brown bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the bottle with red screw cap and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the bottle with red screw cap with the left arm and shake.", + "Grab the bottle with red screw cap and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the brown bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the plastic soda bottle and shake it.", + "Use the left arm to grab the plastic soda bottle and shake.", + "Grab the plastic soda bottle and give it a shake.", + "Pick up the brown bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the plastic soda bottle, shake it properly, then set it down.", + "Use the left arm to pick the brown bottle.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the bottle with red screw cap and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the brown bottle, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Shake the plastic soda bottle after picking it with the left arm.", + "Pick up the bottle with red screw cap and shake it.", + "Use the left arm to grab the brown bottle and shake.", + "Grab the brown bottle and give it a shake.", + "Pick up the plastic soda bottle with the left arm and shake.", + "Grab the brown bottle and shake it.", + "Grab the bottle with red screw cap, shake it properly, then set it down.", + "Use the left arm to pick the bottle with red screw cap.", + "Pick and shake the the plastic soda bottle with the left arm.", + "Pick up the brown bottle and shake it.", + "Shake the brown bottle after picking it with the left arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode97.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode97.json new file mode 100644 index 0000000000000000000000000000000000000000..6f68b13c1407dae63cee4f7818bea7b2587ac610 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode97.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the right arm, pick the smooth green plastic bottle and shake properly.", + "Pick the plastic bottle up using the right arm and shake it.", + "Shake the medium-sized green bottle firmly after grabbing.", + "Using the right arm, shake the bottle with narrow top and then place it back.", + "Use the right arm to pick and shake the handheld green bottle.", + "Use the right arm to hold the smooth green bottle and shake it.", + "Use the right arm to grab the smooth green bottle and shake properly.", + "Grab and shake the bottle with ridges near base using the right arm.", + "Pick up the medium green bottle with capped neck and shake it.", + "Grab the bottle with rounded neck using the right arm, then shake.", + "Pick the medium green bottle and perform shaking motion.", + "Grab the handheld green bottle and move it to shake.", + "Utilize the right arm to hold the bottle with ridges near base and shake it.", + "Shake the medium-sized green bottle using the right arm after grabbing.", + "Hold the smooth green plastic bottle and shake it properly.", + "Lift up the smooth green bottle using the right arm, then shake.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Grab the handheld green bottle and shake it steadily.", + "Use the right arm to lift and shake the plastic bottle.", + "Grab the plastic bottle and give it a shake.", + "Hold the medium-sized green bottle steady, then shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Shake the bottle with rounded neck after holding it firmly.", + "Pick the green bottle with indented base up with the right arm and shake.", + "Grab the medium green bottle firmly, shake it, and put it down.", + "Shake the medium green bottle with capped neck after lifting it.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Shake the bottle with rounded neck after grabbing it.", + "Lift the handheld green bottle and shake it thoroughly.", + "Catch the bottle with rounded neck and shake it instantly.", + "Pick the medium-sized green bottle, shake it with the right arm.", + "Lift the smooth green plastic bottle with the right arm and shake it.", + "Use the right arm to lift and shake the bottle with narrow top.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Shake the smooth green plastic bottle thoroughly after grabbing it.", + "Lift the handheld green bottle with the right arm and shake.", + "Hold the bottle with narrow top, shake it briefly.", + "Secure the smooth green plastic bottle and perform a shake.", + "Shake the bottle with narrow top after grabbing it.", + "Grip the handheld green bottle using the right arm and shake.", + "Grasp the bottle with rounded neck with the right arm and shake it.", + "Secure the bottle with ridges near base, shake it, and place it down.", + "Take the green bottle with indented base using the right arm and give it a shake.", + "Hold and shake the the bottle with rounded neck carefully.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Use the right arm to grab the bottle with narrow top and shake it.", + "Grab the medium-sized green bottle with the right arm and shake.", + "Grab the handheld green bottle carefully and shake.", + "Lift the bottle with white printed label with the right arm and give it a shake.", + "Hold the smooth green plastic bottle with the right arm and shake lightly.", + "With the right arm, pick the plastic bottle and shake properly.", + "Pick the medium green bottle up using the right arm and shake it.", + "Shake the handheld green bottle firmly after grabbing.", + "Using the right arm, shake the smooth green bottle and then place it back.", + "Use the right arm to pick and shake the green bottle with indented base.", + "Use the right arm to hold the medium green bottle with capped neck and shake it.", + "Use the right arm to grab the handheld green bottle and shake properly.", + "Grab and shake the green bottle with indented base using the right arm.", + "Pick up the medium green bottle and shake it.", + "Grab the handheld green bottle using the right arm, then shake.", + "Pick the bottle with narrow top and perform shaking motion.", + "Grab the medium-sized green bottle and move it to shake.", + "Utilize the right arm to hold the green bottle with indented base and shake it.", + "Shake the bottle with narrow top using the right arm after grabbing.", + "Hold the green bottle with indented base and shake it properly.", + "Lift up the smooth green bottle using the right arm, then shake.", + "Shake the the handheld green bottle properly after lifting.", + "Grab the plastic bottle and shake it steadily.", + "Use the right arm to lift and shake the green bottle with indented base.", + "Grab the bottle with narrow top and give it a shake.", + "Hold the smooth green bottle steady, then shake it.", + "Shake the green bottle with indented base after grabbing it.", + "Shake the green bottle with indented base after holding it firmly.", + "Pick the bottle with ridges near base up with the right arm and shake.", + "Grab the smooth green plastic bottle firmly, shake it, and put it down.", + "Shake the bottle with white printed label after lifting it.", + "Lift the medium-sized green bottle and shake it gently.", + "Shake the bottle with white printed label after grabbing it.", + "Lift the bottle with rounded neck and shake it thoroughly.", + "Catch the plastic bottle and shake it instantly.", + "Pick the green bottle with indented base, shake it with the right arm.", + "Lift the handheld green bottle with the right arm and shake it.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Pick up the smooth green bottle and shake it well.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Lift the medium-sized green bottle with the right arm and shake.", + "Hold the medium green bottle, shake it briefly.", + "Secure the handheld green bottle and perform a shake.", + "Shake the medium green bottle after grabbing it.", + "Grip the bottle with narrow top using the right arm and shake.", + "Grasp the handheld green bottle with the right arm and shake it.", + "Secure the medium-sized green bottle, shake it, and place it down.", + "Take the medium green bottle using the right arm and give it a shake.", + "Hold and shake the the bottle with ridges near base carefully.", + "Use the right arm to lift and shake the medium green bottle.", + "Use the right arm to grab the green bottle with indented base and shake it.", + "Grab the bottle with ridges near base with the right arm and shake.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Lift the bottle with white printed label with the right arm and give it a shake.", + "Hold the bottle with narrow top with the right arm and shake lightly." + ], + "unseen": [ + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green bottle and give it a shake.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Shake the green bottle after picking it with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the right arm and shake." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode98.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode98.json new file mode 100644 index 0000000000000000000000000000000000000000..3fd86bca916c38be91598d4ff59c1919cfe8eac2 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode98.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the smooth green plastic bottle and shake properly.", + "Shake the the handheld green bottle properly after lifting.", + "Utilize the right arm to hold the bottle with narrow top and shake it.", + "Take the green bottle with indented base using the right arm and give it a shake.", + "Grab the smooth green plastic bottle and shake it steadily.", + "Shake the smooth green bottle after lifting it.", + "Use the right arm to hold the bottle with narrow top and shake it.", + "Use the right arm to lift and shake the plastic bottle.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Lift the smooth green plastic bottle and shake it thoroughly.", + "Lift the bottle with white printed label with the right arm and shake it.", + "Secure the handheld green bottle and perform a shake.", + "Grab the plastic bottle firmly, shake it, and put it down.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Use the right arm to pick and shake the medium green bottle.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Grab the bottle with ridges near base using the right arm, then shake.", + "Pick the smooth green bottle up using the right arm and shake it.", + "Hold the bottle with ridges near base, shake it briefly.", + "Grab the medium green bottle carefully and shake.", + "Lift up the smooth green bottle using the right arm, then shake.", + "Shake the bottle with white printed label after grabbing it.", + "Pick the handheld green bottle up with the right arm and shake.", + "Grasp the medium green bottle with the right arm and shake it.", + "Use the right arm to grab the medium green bottle and shake it.", + "Pick up the bottle with rounded neck and shake it.", + "Use the right arm to lift and shake the handheld green bottle.", + "Shake the medium green bottle after holding it firmly.", + "Using the right arm, shake the smooth green bottle and then place it back.", + "Grip the bottle with ridges near base using the right arm and shake.", + "Grab and shake the bottle with rounded neck using the right arm.", + "Hold the green bottle with indented base and shake it properly.", + "Lift the medium green bottle with capped neck and shake it gently.", + "Shake the medium green bottle using the right arm after grabbing.", + "Shake the bottle with white printed label firmly after grabbing.", + "Hold and shake the the handheld green bottle carefully.", + "Pick the bottle with white printed label, shake it with the right arm.", + "Lift the medium green bottle with the right arm and shake.", + "Secure the smooth green bottle, shake it, and place it down.", + "Catch the smooth green plastic bottle and shake it instantly.", + "Lift the bottle with narrow top with the right arm and give it a shake.", + "Shake the plastic bottle thoroughly after grabbing it.", + "Shake the handheld green bottle after grabbing it.", + "Grab the bottle with narrow top and give it a shake.", + "Hold the smooth green plastic bottle with the right arm and shake lightly.", + "With the right arm, pick the bottle with rounded neck and shake properly.", + "Grab the green bottle with indented base and move it to shake.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grab the handheld green bottle with the right arm and shake.", + "Pick up the medium green bottle and shake it well.", + "Use the right arm to grab the bottle with white printed label and shake properly.", + "Shake the the green bottle with indented base properly after lifting.", + "Utilize the right arm to hold the medium-sized green bottle and shake it.", + "Take the smooth green bottle using the right arm and give it a shake.", + "Grab the medium green bottle and shake it steadily.", + "Shake the medium green bottle with capped neck after lifting it.", + "Use the right arm to hold the medium-sized green bottle and shake it.", + "Use the right arm to lift and shake the medium-sized green bottle.", + "Hold the handheld green bottle steady, then shake it.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Lift the bottle with ridges near base with the right arm and shake it.", + "Secure the plastic bottle and perform a shake.", + "Grab the medium-sized green bottle firmly, shake it, and put it down.", + "Use the right arm to lift and shake the bottle with ridges near base.", + "Use the right arm to pick and shake the handheld green bottle.", + "Pick the medium green bottle with capped neck and perform shaking motion.", + "Grab the plastic bottle using the right arm, then shake.", + "Pick the plastic bottle up using the right arm and shake it.", + "Hold the medium green bottle, shake it briefly.", + "Grab the green bottle with indented base carefully and shake.", + "Lift up the bottle with narrow top using the right arm, then shake.", + "Shake the bottle with rounded neck after grabbing it.", + "Pick the bottle with white printed label up with the right arm and shake.", + "Grasp the smooth green plastic bottle with the right arm and shake it.", + "Use the right arm to grab the bottle with white printed label and shake it.", + "Pick up the bottle with narrow top and shake it.", + "Use the right arm to lift and shake the bottle with white printed label.", + "Shake the bottle with white printed label after holding it firmly.", + "Using the right arm, shake the bottle with white printed label and then place it back.", + "Grip the bottle with ridges near base using the right arm and shake.", + "Grab and shake the bottle with rounded neck using the right arm.", + "Hold the bottle with rounded neck and shake it properly.", + "Lift the handheld green bottle and shake it gently.", + "Shake the bottle with narrow top using the right arm after grabbing.", + "Shake the smooth green plastic bottle firmly after grabbing.", + "Hold and shake the the bottle with ridges near base carefully.", + "Pick the bottle with ridges near base, shake it with the right arm.", + "Lift the plastic bottle with the right arm and shake.", + "Secure the smooth green bottle, shake it, and place it down.", + "Catch the handheld green bottle and shake it instantly.", + "Lift the plastic bottle with the right arm and give it a shake.", + "Shake the green bottle with indented base thoroughly after grabbing it.", + "Shake the bottle with ridges near base after grabbing it.", + "Grab the smooth green plastic bottle and give it a shake.", + "Hold the bottle with rounded neck with the right arm and shake lightly.", + "With the right arm, pick the plastic bottle and shake properly.", + "Grab the medium-sized green bottle and move it to shake.", + "Shake the smooth green plastic bottle after grabbing it.", + "Grab the bottle with rounded neck with the right arm and shake.", + "Pick up the smooth green plastic bottle and shake it well." + ], + "unseen": [ + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green bottle and shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to pick the green bottle with white label.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick and shake the the green bottle with white label with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle and give it a shake.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green bottle with the right arm.", + "Pick up the green bottle and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick up the green bottle with white label with the right arm and shake.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Pick up the green bottle and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Use the right arm to pick the green bottle.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle with white label and shake it.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode99.json b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode99.json new file mode 100644 index 0000000000000000000000000000000000000000..392fda47ebfb58869d6bbba9106310dcf12ce7fc --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/instructions/episode99.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Shake the medium green bottle after grabbing it.", + "Pick the plastic bottle up with the right arm and shake.", + "Grab the bottle with narrow top using the right arm, then shake.", + "Hold the bottle with rounded neck and shake it properly.", + "Grab and shake the plastic bottle using the right arm.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Shake the the plastic bottle properly after lifting.", + "Pick up the smooth green plastic bottle and shake it.", + "Grab the bottle with ridges near base firmly, shake it, and put it down.", + "Lift up the handheld green bottle using the right arm, then shake.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "With the right arm, pick the medium green bottle and shake properly.", + "Utilize the right arm to hold the medium green bottle and shake it.", + "Hold the medium-sized green bottle, shake it briefly.", + "Using the right arm, shake the bottle with rounded neck and then place it back.", + "Pick up the smooth green plastic bottle and shake it well.", + "Lift the bottle with narrow top with the right arm and shake it.", + "Use the right arm to grab the bottle with ridges near base and shake it.", + "Lift the handheld green bottle with the right arm and give it a shake.", + "Pick the bottle with narrow top and perform shaking motion.", + "Secure the bottle with ridges near base and perform a shake.", + "Grab the bottle with rounded neck with the right arm and shake.", + "Grab the medium-sized green bottle and move it to shake.", + "Secure the plastic bottle, shake it, and place it down.", + "Use the right arm to lift and shake the bottle with rounded neck.", + "Shake the plastic bottle using the right arm after grabbing.", + "Shake the medium-sized green bottle after holding it firmly.", + "Lift the smooth green bottle with the right arm and shake.", + "Use the right arm to pick and shake the smooth green bottle.", + "Hold and shake the the bottle with narrow top carefully.", + "Lift the bottle with white printed label and shake it thoroughly.", + "Grab the medium green bottle with capped neck carefully and shake.", + "Grab the bottle with ridges near base and shake it steadily.", + "Catch the smooth green bottle and shake it instantly.", + "Shake the plastic bottle after grabbing it.", + "Lift the bottle with ridges near base and shake it gently.", + "Use the right arm to lift and shake the smooth green bottle.", + "Grab the medium green bottle with capped neck and give it a shake.", + "Hold the handheld green bottle with the right arm and shake lightly.", + "Pick the medium green bottle with capped neck up using the right arm and shake it.", + "Grip the bottle with white printed label using the right arm and shake.", + "Shake the medium green bottle firmly after grabbing.", + "Grasp the bottle with narrow top with the right arm and shake it.", + "Shake the handheld green bottle after lifting it.", + "Shake the handheld green bottle after grabbing it.", + "Use the right arm to grab the bottle with white printed label and shake properly.", + "Pick the green bottle with indented base, shake it with the right arm.", + "Hold the green bottle with indented base steady, then shake it.", + "Use the right arm to hold the medium green bottle with capped neck and shake it.", + "Take the medium green bottle with capped neck using the right arm and give it a shake.", + "Shake the plastic bottle after grabbing it.", + "Pick the bottle with white printed label up with the right arm and shake.", + "Grab the smooth green plastic bottle using the right arm, then shake.", + "Hold the bottle with white printed label and shake it properly.", + "Grab and shake the medium green bottle with capped neck using the right arm.", + "Shake the medium green bottle with capped neck thoroughly after grabbing it.", + "Shake the the medium green bottle with capped neck properly after lifting.", + "Pick up the medium green bottle with capped neck and shake it.", + "Grab the handheld green bottle firmly, shake it, and put it down.", + "Lift up the bottle with narrow top using the right arm, then shake.", + "Use the right arm to lift and shake the smooth green bottle.", + "With the right arm, pick the medium green bottle with capped neck and shake properly.", + "Utilize the right arm to hold the plastic bottle and shake it.", + "Hold the handheld green bottle, shake it briefly.", + "Using the right arm, shake the smooth green bottle and then place it back.", + "Pick up the medium green bottle with capped neck and shake it well.", + "Lift the smooth green bottle with the right arm and shake it.", + "Use the right arm to grab the bottle with narrow top and shake it.", + "Lift the smooth green bottle with the right arm and give it a shake.", + "Pick the bottle with rounded neck and perform shaking motion.", + "Secure the smooth green bottle and perform a shake.", + "Grab the smooth green plastic bottle with the right arm and shake.", + "Grab the bottle with narrow top and move it to shake.", + "Secure the green bottle with indented base, shake it, and place it down.", + "Use the right arm to lift and shake the smooth green plastic bottle.", + "Shake the medium green bottle with capped neck using the right arm after grabbing.", + "Shake the medium green bottle with capped neck after holding it firmly.", + "Lift the green bottle with indented base with the right arm and shake.", + "Use the right arm to pick and shake the green bottle with indented base.", + "Hold and shake the the bottle with ridges near base carefully.", + "Lift the smooth green bottle and shake it thoroughly.", + "Grab the medium-sized green bottle carefully and shake.", + "Grab the bottle with ridges near base and shake it steadily.", + "Catch the handheld green bottle and shake it instantly.", + "Shake the medium green bottle with capped neck after grabbing it.", + "Lift the green bottle with indented base and shake it gently.", + "Use the right arm to lift and shake the medium green bottle with capped neck.", + "Grab the medium green bottle and give it a shake.", + "Hold the green bottle with indented base with the right arm and shake lightly.", + "Pick the bottle with rounded neck up using the right arm and shake it.", + "Grip the bottle with rounded neck using the right arm and shake.", + "Shake the bottle with narrow top firmly after grabbing.", + "Grasp the medium green bottle with the right arm and shake it.", + "Shake the bottle with narrow top after lifting it.", + "Shake the smooth green bottle after grabbing it.", + "Use the right arm to grab the smooth green bottle and shake properly.", + "Pick the green bottle with indented base, shake it with the right arm.", + "Hold the medium green bottle with capped neck steady, then shake it.", + "Use the right arm to hold the bottle with white printed label and shake it.", + "Take the bottle with white printed label using the right arm and give it a shake." + ], + "unseen": [ + "Pick up the green bottle with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green plastic bottle with ridged bottom with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green bottle with white label.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down.", + "Pick up the green bottle with the right arm and shake.", + "Grab the green plastic bottle with ridged bottom and shake it.", + "Pick up the green plastic bottle with ridged bottom and shake it.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green plastic bottle with ridged bottom after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green bottle, shake it properly, then set it down.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green bottle.", + "Use the right arm to grab the green bottle with white label and shake.", + "Pick and shake the the green plastic bottle with ridged bottom with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green bottle with white label and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle and shake it.", + "Pick up the green bottle with white label and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green plastic bottle with ridged bottom and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle with white label and shake it.", + "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.", + "Pick up the green bottle with white label with the right arm and shake.", + "Grab the green bottle with white label and shake it.", + "Pick up the green bottle and shake it.", + "Use the right arm to pick the green plastic bottle with ridged bottom.", + "Use the right arm to grab the green bottle and shake.", + "Pick and shake the the green bottle with white label with the right arm.", + "Shake the green bottle with white label after picking it with the right arm.", + "Grab the green plastic bottle with ridged bottom and give it a shake.", + "Pick up the green bottle and shake it.", + "Grab the green bottle with white label, shake it properly, then set it down." + ] +} \ No newline at end of file diff --git a/train300/shake_bottle/jaco2-7dof_clean_300/scene_info.json b/train300/shake_bottle/jaco2-7dof_clean_300/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..d22d8ee1cbfe753fb27a7c3155edefb2f6e063a8 --- /dev/null +++ b/train300/shake_bottle/jaco2-7dof_clean_300/scene_info.json @@ -0,0 +1,3302 @@ +{ + "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/base16", + "{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}": "right" + } + }, + "episode_4": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "001_bottle/base16", + "{a}": "left" + } + }, + "episode_5": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "001_bottle/base16", + "{a}": "left" + } + }, + "episode_6": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "001_bottle/base13", + "{a}": "left" + } + }, + "episode_7": { + "cluttered_table_info": [], + "texture_info": { + 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