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+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Pick up the bottle with ridged neck with the right arm and shake.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Shake the blue-capped plastic bottle after picking it with the right arm.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001143.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001143.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c6f4b4122ff795c85a4440c47827da6bb63dc0a
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001143.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the plastic bottle carefully and shake.",
+    "Lift the medium green bottle with capped neck and shake it gently.",
+    "Hold the medium green bottle with the right arm and shake lightly.",
+    "Shake the green bottle with indented base thoroughly after grabbing it.",
+    "Grab the bottle with narrow top and give it a shake.",
+    "Grab the green bottle with indented base and move it to shake.",
+    "Pick the medium green bottle, shake it with the right arm.",
+    "Shake the smooth green plastic bottle after grabbing it.",
+    "Shake the the smooth green plastic bottle properly after lifting.",
+    "Use the right arm to lift and shake the green bottle with indented base.",
+    "Use the right arm to grab the bottle with narrow top and shake properly.",
+    "Hold the bottle with white printed label steady, then shake it.",
+    "Shake the medium-sized green bottle after holding it firmly.",
+    "Lift the handheld green bottle with the right arm and shake it.",
+    "Secure the medium green bottle, shake it, and place it down.",
+    "Lift the medium-sized green bottle with the right arm and shake.",
+    "Pick the smooth green plastic bottle up using the right arm and shake it.",
+    "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 medium green bottle with capped neck.",
+    "Shake the medium green bottle with capped neck using the right arm after grabbing.",
+    "Use the right arm to pick and shake the bottle with rounded neck.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Grip the bottle with ridges near base using the right arm and shake.",
+    "Grab the bottle with narrow top using the right arm, then shake.",
+    "Shake the medium-sized green bottle after grabbing it.",
+    "Pick the bottle with white printed label up with the right arm and shake.",
+    "Pick the green bottle with indented base and perform shaking motion.",
+    "Secure the green bottle with indented base and perform a shake.",
+    "Pick up the bottle with narrow top and shake it well.",
+    "Use the right arm to lift and shake the bottle with ridges near base.",
+    "Utilize the right arm to hold the handheld green bottle and shake it.",
+    "With the right arm, pick the bottle with white printed label and shake properly.",
+    "Catch the bottle with narrow top and shake it instantly.",
+    "Take the medium green bottle using the right arm and give it a shake.",
+    "Grab the medium green bottle firmly, shake it, and put it down.",
+    "Grab the medium-sized green bottle and shake it steadily.",
+    "Grab and shake the medium green bottle using the right arm.",
+    "Shake the medium-sized green bottle after lifting it.",
+    "Hold and shake the the bottle with white printed label carefully.",
+    "Use the right arm to grab the medium green bottle and shake it.",
+    "Using the right arm, shake the smooth green plastic bottle and then place it back.",
+    "Pick up the bottle with white printed label and shake it.",
+    "Use the right arm to hold the plastic bottle and shake it.",
+    "Shake the smooth green bottle firmly after grabbing.",
+    "Lift the bottle with white printed label and shake it thoroughly.",
+    "Lift up the medium green bottle with capped neck using the right arm, then shake.",
+    "Shake the bottle with white printed label after grabbing it.",
+    "Grab the medium-sized green bottle with the right arm and shake.",
+    "Grasp the handheld green bottle with the right arm and shake it.",
+    "Hold the medium-sized green bottle and shake it properly.",
+    "Grab the bottle with ridges near base carefully and shake.",
+    "Lift the bottle with ridges near base and shake it gently.",
+    "Hold the medium-sized green bottle with the right arm and shake lightly.",
+    "Shake the smooth green bottle thoroughly after grabbing it.",
+    "Grab the medium-sized green bottle and give it a shake.",
+    "Grab the bottle with white printed label and move it to shake.",
+    "Pick the plastic bottle, shake it with the right arm.",
+    "Shake the medium-sized green bottle after grabbing it.",
+    "Shake the the bottle with white printed label properly after lifting.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "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.",
+    "Shake the bottle with rounded neck after holding it firmly.",
+    "Lift the bottle with rounded neck with the right arm and shake it.",
+    "Secure the handheld green bottle, shake it, and place it down.",
+    "Lift the green bottle with indented base with the right arm and shake.",
+    "Pick the bottle with ridges near base up using the right arm and shake 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 handheld green bottle.",
+    "Shake the medium green bottle with capped neck using the right arm after grabbing.",
+    "Use the right arm to pick and shake the smooth green bottle.",
+    "Hold the bottle with white printed label, shake it briefly.",
+    "Grip the smooth green plastic bottle using the right arm and shake.",
+    "Grab the bottle with white printed label using the right arm, then shake.",
+    "Shake the bottle with rounded neck after grabbing it.",
+    "Pick the bottle with narrow top up with the right arm and shake.",
+    "Pick the medium-sized green bottle and perform shaking motion.",
+    "Secure the smooth green bottle and perform a shake.",
+    "Pick up the smooth green bottle and shake it well.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Utilize the right arm to hold the green bottle with indented base and shake it.",
+    "With the right arm, pick the medium green bottle and shake properly.",
+    "Catch the medium green bottle with capped neck and shake it instantly.",
+    "Take the medium green bottle with capped neck using the right arm and give it a shake.",
+    "Grab the medium green bottle firmly, shake it, and put it down.",
+    "Grab the smooth green plastic bottle and shake it steadily.",
+    "Grab and shake the medium green bottle using the right arm.",
+    "Shake the smooth green bottle after lifting it.",
+    "Hold and shake the the medium green bottle carefully.",
+    "Use the right arm to grab the medium green bottle and shake it.",
+    "Using the right arm, shake the bottle with narrow top and then place it back.",
+    "Pick up the green bottle with indented base and shake it.",
+    "Use the right arm to hold the handheld green bottle and shake it.",
+    "Shake the medium green bottle with capped neck firmly after grabbing.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Lift up the bottle with rounded neck using the right arm, then shake.",
+    "Shake the medium-sized green bottle after grabbing it.",
+    "Grab the medium-sized green bottle with the right arm and shake.",
+    "Grasp the smooth green plastic bottle with the right arm and shake it.",
+    "Hold the green bottle with indented base and shake it properly."
+  ],
+  "unseen": [
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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 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.",
+    "Grab the green bottle and give it a 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.",
+    "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 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.",
+    "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 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.",
+    "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.",
+    "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 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 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.",
+    "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 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 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.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "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.",
+    "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 right arm.",
+    "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.",
+    "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.",
+    "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.",
+    "Pick up 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 and shake.",
+    "Grab the green bottle, 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 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 plastic bottle with ridged bottom.",
+    "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 right arm.",
+    "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.",
+    "Grab the green plastic bottle with ridged bottom and give it a 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.",
+    "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 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.",
+    "Grab the green bottle with white label, shake it properly, then set it down."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001155.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001155.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4f61f4099ae187cb83492e8e65735442f7867ca
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001155.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab and shake the bottle with ribbed orange bottom using the right arm.",
+    "Shake the cylindrical orange and white bottle thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the medium bottle with orange lid.",
+    "Lift the orange and white bottle with cap with the right arm and shake it.",
+    "Hold and shake the the drinking bottle with yellow label carefully.",
+    "Lift the smooth plastic bottle with the right arm and give it a shake.",
+    "Hold the medium bottle with orange lid steady, then shake it.",
+    "Use the right arm to grab the yellow label bottle and shake it.",
+    "Utilize the right arm to hold the bottle with ribbed orange bottom and shake it.",
+    "Pick up the yellow label bottle and shake it well.",
+    "Grab the cylindrical orange and white bottle firmly, shake it, and put it down.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Take the plastic bottle using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the bottle with orange cap.",
+    "Hold the yellow label bottle and shake it properly.",
+    "Pick the bottle with ribbed orange bottom up with the right arm and shake.",
+    "Pick the white and orange plastic bottle up using the right arm and shake it.",
+    "Use the right arm to grab the orange bottle and shake properly.",
+    "Grab the cylindrical orange and white bottle and shake it steadily.",
+    "Shake the bottle with orange cap using the right arm after grabbing.",
+    "Lift the smooth plastic bottle with the right arm and shake.",
+    "Lift the white and orange plastic bottle and shake it thoroughly.",
+    "Use the right arm to lift and shake the orange and white bottle with cap.",
+    "Shake the drinking bottle with yellow label after grabbing it.",
+    "Grasp the yellow label bottle with the right arm and shake it.",
+    "Lift the medium bottle with orange lid and shake it gently.",
+    "Pick the bottle with orange cap, shake it with the right arm.",
+    "Grab the cylindrical orange and white bottle and move it to shake.",
+    "Using the right arm, shake the medium bottle with orange lid and then place it back.",
+    "Use the right arm to pick and shake the bottle with orange cap.",
+    "Grab the medium bottle with orange lid carefully and shake.",
+    "Pick up the plastic bottle and shake it.",
+    "Grab the bottle with orange cap with the right arm and shake.",
+    "Shake the bottle with orange cap after holding it firmly.",
+    "Shake the orange and white bottle with cap after lifting it.",
+    "Secure the cylindrical orange and white bottle and perform a shake.",
+    "Hold the smooth plastic bottle with the right arm and shake lightly.",
+    "Grab the yellow label bottle and give it a shake.",
+    "Grab the drinking bottle with yellow label using the right arm, then shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Shake the orange bottle after grabbing it.",
+    "Lift up the yellow label bottle using the right arm, then shake.",
+    "Pick the white and orange plastic bottle and perform shaking motion.",
+    "Catch the drinking bottle with yellow label and shake it instantly.",
+    "Shake the the medium bottle with orange lid properly after lifting.",
+    "Use the right arm to hold the orange and white bottle with cap and shake it.",
+    "Secure the white and orange plastic bottle, shake it, and place it down.",
+    "Grip the white and orange plastic bottle using the right arm and shake.",
+    "With the right arm, pick the plastic bottle and shake properly.",
+    "Shake the orange bottle firmly after grabbing.",
+    "Grab and shake the bottle with ribbed orange bottom using the right arm.",
+    "Shake the yellow label bottle thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the medium bottle with orange lid.",
+    "Lift the smooth plastic bottle with the right arm and shake it.",
+    "Hold and shake the the medium bottle with orange lid carefully.",
+    "Lift the orange and white bottle with cap with the right arm and give it a shake.",
+    "Hold the cylindrical orange and white bottle steady, then shake it.",
+    "Use the right arm to grab the smooth plastic bottle and shake it.",
+    "Utilize the right arm to hold the plastic bottle and shake it.",
+    "Pick up the bottle with orange cap and shake it well.",
+    "Grab the medium orange bottle firmly, shake it, and put it down.",
+    "Hold the bottle with orange cap, shake it briefly.",
+    "Take the smooth plastic bottle using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the drinking bottle with yellow label.",
+    "Hold the white and orange plastic bottle and shake it properly.",
+    "Pick the orange bottle up with the right arm and shake.",
+    "Pick the orange bottle up using the right arm and shake it.",
+    "Use the right arm to grab the plastic bottle and shake properly.",
+    "Grab the bottle with orange cap and shake it steadily.",
+    "Shake the medium orange bottle using the right arm after grabbing.",
+    "Lift the plastic bottle with the right arm and shake.",
+    "Lift the smooth plastic bottle and shake it thoroughly.",
+    "Use the right arm to lift and shake the medium bottle with orange lid.",
+    "Shake the orange and white bottle with cap after grabbing it.",
+    "Grasp the bottle with ribbed orange bottom with the right arm and shake it.",
+    "Lift the medium orange bottle and shake it gently.",
+    "Pick the white and orange plastic bottle, shake it with the right arm.",
+    "Grab the cylindrical orange and white bottle and move it to shake.",
+    "Using the right arm, shake the orange and white bottle with cap and then place it back.",
+    "Use the right arm to pick and shake the white and orange plastic bottle.",
+    "Grab the medium orange bottle carefully and shake.",
+    "Pick up the smooth plastic bottle and shake it.",
+    "Grab the medium orange bottle with the right arm and shake.",
+    "Shake the orange bottle after holding it firmly.",
+    "Shake the bottle with ribbed orange bottom after lifting it.",
+    "Secure the orange and white bottle with cap and perform a shake.",
+    "Hold the drinking bottle with yellow label with the right arm and shake lightly.",
+    "Grab the plastic bottle and give it a shake.",
+    "Grab the orange bottle using the right arm, then shake.",
+    "Shake the orange and white bottle with cap after grabbing it.",
+    "Shake the orange and white bottle with cap after grabbing it.",
+    "Lift up the smooth plastic bottle using the right arm, then shake.",
+    "Pick the drinking bottle with yellow label and perform shaking motion.",
+    "Catch the yellow label bottle and shake it instantly.",
+    "Shake the the medium bottle with orange lid properly after lifting.",
+    "Use the right arm to hold the yellow label bottle and shake it.",
+    "Secure the orange and white bottle with cap, shake it, and place it down.",
+    "Grip the medium bottle with orange lid using the right arm and shake.",
+    "With the right arm, pick the smooth plastic bottle and shake properly.",
+    "Shake the orange bottle firmly after grabbing."
+  ],
+  "unseen": [
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body and give it a shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001188.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001188.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fee24d1250a9c4054dbc6f93529c5ccb89c8442
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001188.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the right arm, shake the plastic bottle with ribbed pattern and then place it back.",
+    "Lift up the green-capped bottle using the right arm, then shake.",
+    "Pick up the smooth plastic bottle for beverages and shake it.",
+    "Hold the bottle with tapered cylindrical shape steady, then shake it.",
+    "Pick up the brown bottle with white printed label and shake it well.",
+    "Grab the brown bottle with white printed label using the right arm, then shake.",
+    "Lift the small brown plastic bottle and shake it thoroughly.",
+    "Grab and shake the brown bottle using the right arm.",
+    "Utilize the right arm to hold the brown bottle with white printed label and shake it.",
+    "Shake the bottle with tapered cylindrical shape after grabbing it.",
+    "Shake the brown bottle with green screw-on cap after grabbing it.",
+    "Catch the bottle with green cap and shake it instantly.",
+    "Grab the bottle with tapered cylindrical shape and shake it steadily.",
+    "Grasp the small drink bottle with logo with the right arm and shake it.",
+    "Grab the hand-sized bottle with grooves carefully and shake.",
+    "Use the right arm to lift and shake the small brown plastic bottle.",
+    "Secure the bottle with tapered cylindrical shape, shake it, and place it down.",
+    "Lift the small drink bottle with logo with the right arm and shake.",
+    "Grab the brown bottle firmly, shake it, and put it down.",
+    "Lift the brown bottle with white printed label and shake it gently.",
+    "Use the right arm to pick and shake the smooth plastic bottle for beverages.",
+    "Use the right arm to grab the brown bottle with green screw-on cap and shake properly.",
+    "Lift the bottle with tapered cylindrical shape with the right arm and shake it.",
+    "Shake the brown bottle after grabbing it.",
+    "Shake the hand-sized bottle with grooves thoroughly after grabbing it.",
+    "Grab the brown bottle with white printed label and move it to shake.",
+    "Pick the cylindrical bottle with white label up with the right arm and shake.",
+    "Grab the cylindrical bottle with white label and give it a shake.",
+    "Hold the green-capped bottle with the right arm and shake lightly.",
+    "Use the right arm to lift and shake the small drink bottle with logo.",
+    "Shake the small drink bottle with logo after lifting it.",
+    "Grab the brown bottle with green screw-on cap with the right arm and shake.",
+    "Shake the smooth plastic bottle for beverages using the right arm after grabbing.",
+    "Use the right arm to lift and shake the hand-sized bottle with grooves.",
+    "Hold and shake the the bottle with green cap carefully.",
+    "Shake the the brown bottle with green screw-on cap properly after lifting.",
+    "Pick the small drink bottle with logo, shake it with the right arm.",
+    "Pick the brown bottle up using the right arm and shake it.",
+    "Use the right arm to hold the smooth plastic bottle for beverages and shake it.",
+    "Take the cylindrical bottle with white label using the right arm and give it a shake.",
+    "Secure the smooth plastic bottle for beverages and perform a shake.",
+    "Shake the bottle with tapered cylindrical shape after holding it firmly.",
+    "Grip the cylindrical bottle with white label using the right arm and shake.",
+    "With the right arm, pick the bottle with green cap and shake properly.",
+    "Use the right arm to grab the hand-sized bottle with grooves and shake it.",
+    "Shake the brown bottle with white printed label firmly after grabbing.",
+    "Hold the small brown plastic bottle, shake it briefly.",
+    "Pick the hand-sized bottle with grooves and perform shaking motion.",
+    "Hold the plastic bottle with ribbed pattern and shake it properly.",
+    "Lift the smooth plastic bottle for beverages with the right arm and give it a shake.",
+    "Using the right arm, shake the green-capped bottle and then place it back.",
+    "Lift up the small brown plastic bottle using the right arm, then shake.",
+    "Pick up the bottle with green cap and shake it.",
+    "Hold the hand-sized bottle with grooves steady, then shake it.",
+    "Pick up the smooth plastic bottle for beverages and shake it well.",
+    "Grab the brown bottle with green screw-on cap using the right arm, then shake.",
+    "Lift the small brown plastic bottle and shake it thoroughly.",
+    "Grab and shake the green-capped bottle using the right arm.",
+    "Utilize the right arm to hold the brown bottle and shake it.",
+    "Shake the small brown plastic bottle after grabbing it.",
+    "Shake the plastic bottle with ribbed pattern after grabbing it.",
+    "Catch the plastic bottle with ribbed pattern and shake it instantly.",
+    "Grab the brown bottle with white printed label and shake it steadily.",
+    "Grasp the bottle with green cap with the right arm and shake it.",
+    "Grab the smooth plastic bottle for beverages carefully and shake.",
+    "Use the right arm to lift and shake the bottle with tapered cylindrical shape.",
+    "Secure the small brown plastic bottle, shake it, and place it down.",
+    "Lift the bottle with tapered cylindrical shape with the right arm and shake.",
+    "Grab the small brown plastic bottle firmly, shake it, and put it down.",
+    "Lift the smooth plastic bottle for beverages and shake it gently.",
+    "Use the right arm to pick and shake the brown bottle with white printed label.",
+    "Use the right arm to grab the smooth plastic bottle for beverages and shake properly.",
+    "Lift the green-capped bottle with the right arm and shake it.",
+    "Shake the bottle with green cap after grabbing it.",
+    "Shake the bottle with green cap thoroughly after grabbing it.",
+    "Grab the small drink bottle with logo and move it to shake.",
+    "Pick the smooth plastic bottle for beverages up with the right arm and shake.",
+    "Grab the plastic bottle with ribbed pattern and give it a shake.",
+    "Hold the brown bottle with white printed label with the right arm and shake lightly.",
+    "Use the right arm to lift and shake the hand-sized bottle with grooves.",
+    "Shake the bottle with green cap after lifting it.",
+    "Grab the bottle with green cap with the right arm and shake.",
+    "Shake the bottle with green cap using the right arm after grabbing.",
+    "Use the right arm to lift and shake the plastic bottle with ribbed pattern.",
+    "Hold and shake the the hand-sized bottle with grooves carefully.",
+    "Shake the the green-capped bottle properly after lifting.",
+    "Pick the brown bottle with white printed label, shake it with the right arm.",
+    "Pick the smooth plastic bottle for beverages up using the right arm and shake it.",
+    "Use the right arm to hold the brown bottle with white printed label and shake it.",
+    "Take the hand-sized bottle with grooves using the right arm and give it a shake.",
+    "Secure the smooth plastic bottle for beverages and perform a shake.",
+    "Shake the brown bottle with green screw-on cap after holding it firmly.",
+    "Grip the small drink bottle with logo using the right arm and shake.",
+    "With the right arm, pick the smooth plastic bottle for beverages and shake properly.",
+    "Use the right arm to grab the small drink bottle with logo and shake it.",
+    "Shake the green-capped bottle firmly after grabbing.",
+    "Hold the bottle with tapered cylindrical shape, shake it briefly.",
+    "Pick the plastic bottle with ribbed pattern and perform shaking motion.",
+    "Hold the brown bottle and shake it properly.",
+    "Lift the plastic bottle with ribbed pattern with the right arm and give it a shake."
+  ],
+  "unseen": [
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Use the right arm to grab the bottle with Starbucks logo on label and shake.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Use the right arm to grab the bottle with Starbucks logo on label and shake.",
+    "Use the right arm to pick the bottle with coffee-colored body.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Pick and shake the the bottle with coffee-colored body with the right arm.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Use the right arm to pick the bottle with coffee-colored body.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Pick and shake the the bottle with coffee-colored body with the right arm.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Use the right arm to pick the bottle with coffee-colored body.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Grab the bottle with coffee-colored body and shake it.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down.",
+    "Grab the bottle with coffee-colored body and give it a shake.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Grab the bottle with coffee-colored body and give it a shake.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Use the right arm to pick the bottle with coffee-colored body.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Shake the bottle with coffee-colored body after picking it with the right arm.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Use the right arm to grab the bottle with Starbucks logo on label and shake.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Grab the bottle with coffee-colored body and give it a shake.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001331.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001331.json
new file mode 100644
index 0000000000000000000000000000000000000000..74675d98917ed2e2e5b6cdb8639dded05a4e3215
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001331.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the bottle with ridges on bottom and shake properly.",
+    "Lift the narrow-necked bottle and shake it thoroughly.",
+    "Grab the brown bottle with red label and move it to shake.",
+    "Shake the dark drink bottle with logo after lifting it.",
+    "Shake the bottle with white neck and red top using the left arm after grabbing.",
+    "Shake the narrow-necked bottle after grabbing it.",
+    "Lift the red-capped bottle and shake it gently.",
+    "Hold the plastic drink bottle and shake it properly.",
+    "Lift the Coca-Cola bottle with the left arm and give it a shake.",
+    "Grab the smooth bottle with red lid and shake it steadily.",
+    "Hold and shake the the bottle with ridges on bottom carefully.",
+    "Grab 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 brown bottle with red label and give it a shake.",
+    "Shake the plastic drink bottle thoroughly after grabbing it.",
+    "Take the hand-sized soda bottle using the left arm and give it a shake.",
+    "Use the left arm to lift and shake the Coca-Cola bottle.",
+    "Grasp 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.",
+    "Use the left arm to grab the smooth bottle with red lid and shake it.",
+    "Shake the the narrow-necked bottle properly after lifting.",
+    "With the left arm, pick the red-capped bottle and shake properly.",
+    "Shake the plastic drink bottle after grabbing it.",
+    "Grab the bottle with ridges on bottom with the left arm and shake.",
+    "Utilize the left arm to hold the plastic drink bottle and shake it.",
+    "Use the left arm to lift and shake the narrow-necked bottle.",
+    "Shake the medium dark brown bottle after grabbing it.",
+    "Using the left arm, shake the narrow-necked bottle and then place it back.",
+    "Grab the bottle with ridges on bottom carefully and shake.",
+    "Grip the plastic drink bottle using the left arm and shake.",
+    "Shake the red-capped bottle after holding it firmly.",
+    "Pick up the red-capped bottle and shake it.",
+    "Grab the smooth bottle with red lid firmly, shake it, and put it down.",
+    "Secure the bottle with white neck and red top and perform a shake.",
+    "Use the left arm to lift and shake the plastic drink bottle.",
+    "Lift the smooth bottle with red lid with the left arm and shake it.",
+    "Hold the Coca-Cola bottle with the left arm and shake lightly.",
+    "Pick up the narrow-necked bottle and shake it well.",
+    "Lift up the dark drink bottle with logo using the left arm, then shake.",
+    "Use the left arm to pick and shake the Coca-Cola bottle.",
+    "Pick the brown bottle with red label and perform shaking motion.",
+    "Hold the brown bottle with red label steady, then shake it.",
+    "Secure the hand-sized soda bottle, shake it, and place it down.",
+    "Pick the medium dark brown bottle up using the left arm and shake it.",
+    "Lift the red-capped bottle with the left arm and shake.",
+    "Hold the narrow-necked bottle, shake it briefly.",
+    "Pick the long thin bottle, shake it with the left arm.",
+    "Shake the red-capped bottle firmly after grabbing.",
+    "Pick the plastic drink bottle up with the left arm and shake.",
+    "Catch the smooth bottle with red lid and shake it instantly.",
+    "Use the left arm to grab the medium dark brown bottle and shake properly.",
+    "Lift the medium dark brown bottle and shake it thoroughly.",
+    "Grab the bottle with ridges on bottom and move it to shake.",
+    "Shake the Coca-Cola bottle after lifting it.",
+    "Shake the bottle with white neck and red top using the left arm after grabbing.",
+    "Shake the narrow-necked bottle after grabbing it.",
+    "Lift the long thin bottle and shake it gently.",
+    "Hold the plastic drink bottle and shake it properly.",
+    "Lift the narrow-necked bottle with the left arm and give it a shake.",
+    "Grab the bottle with white neck and red top and shake it steadily.",
+    "Hold and shake the the plastic drink bottle carefully.",
+    "Grab the Coca-Cola bottle using the left arm, then shake.",
+    "Use the left arm to hold the hand-sized soda bottle and shake it.",
+    "Grab the red-capped bottle and give it a shake.",
+    "Shake the hand-sized soda bottle thoroughly after grabbing it.",
+    "Take the plastic drink bottle using the left arm and give it a shake.",
+    "Use the left arm to lift and shake the brown bottle with red label.",
+    "Grasp the plastic drink bottle with the left arm and shake it.",
+    "Grab and shake the Coca-Cola bottle using the left arm.",
+    "Use the left arm to grab the hand-sized soda bottle and shake it.",
+    "Shake the the brown bottle with red label properly after lifting.",
+    "With the left arm, pick the hand-sized soda bottle and shake properly.",
+    "Shake the bottle with ridges on bottom after grabbing it.",
+    "Grab the narrow-necked bottle with the left arm and shake.",
+    "Utilize the left arm to hold the plastic drink bottle and shake it.",
+    "Use the left arm to lift and shake the long thin bottle.",
+    "Shake the plastic drink bottle after grabbing it.",
+    "Using the left arm, shake the medium dark brown bottle and then place it back.",
+    "Grab the bottle with ridges on bottom carefully and shake.",
+    "Grip the long thin bottle using the left arm and shake.",
+    "Shake the brown bottle with red label after holding it firmly.",
+    "Pick up the bottle with ridges on bottom and shake it.",
+    "Grab the Coca-Cola bottle firmly, shake it, and put it down.",
+    "Secure the red-capped bottle and perform a shake.",
+    "Use the left arm to lift and shake the plastic drink bottle.",
+    "Lift the plastic drink bottle with the left arm and shake it.",
+    "Hold the plastic drink bottle with the left arm and shake lightly.",
+    "Pick up the smooth bottle with red lid and shake it well.",
+    "Lift up the narrow-necked bottle using the left arm, then shake.",
+    "Use the left arm to pick and shake the dark drink bottle with logo.",
+    "Pick the bottle with white neck and red top and perform shaking motion.",
+    "Hold the smooth bottle with red lid steady, then shake it.",
+    "Secure the medium dark brown bottle, shake it, and place it down.",
+    "Pick the brown bottle with red label up using the left arm and shake it.",
+    "Lift the dark drink bottle with logo with the left arm and shake.",
+    "Hold the medium dark brown bottle, shake it briefly.",
+    "Pick the smooth bottle with red lid, shake it with the left arm.",
+    "Shake the plastic drink bottle firmly after grabbing.",
+    "Pick the medium dark brown bottle up with the left arm and shake.",
+    "Catch the dark drink bottle with logo and shake it instantly."
+  ],
+  "unseen": [
+    "Pick up the brown 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 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.",
+    "Use the left arm to pick the brown bottle.",
+    "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.",
+    "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.",
+    "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 plastic soda bottle.",
+    "Grab the plastic soda bottle and give it a 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 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 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.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the brown bottle 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.",
+    "Pick up the bottle with red screw cap 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 plastic soda 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.",
+    "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 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.",
+    "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.",
+    "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 brown bottle 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.",
+    "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 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.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the brown bottle 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.",
+    "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 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 bottle with red screw cap and shake.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the brown bottle 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.",
+    "Pick up the brown bottle 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 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.",
+    "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, shake it properly, then set it down.",
+    "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 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 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 brown bottle.",
+    "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 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.",
+    "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.",
+    "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 brown bottle and give it a shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the plastic soda bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001357.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001357.json
new file mode 100644
index 0000000000000000000000000000000000000000..7704827abe4b0c380080d94d398bb633c9c6bb16
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001357.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold and shake the the hand-sized soda bottle carefully.",
+    "Shake the brown bottle with red label using the right arm after grabbing.",
+    "Grab the long thin bottle and shake it steadily.",
+    "Shake the the Coca-Cola bottle properly after lifting.",
+    "Shake the dark drink bottle with logo after grabbing it.",
+    "Take the bottle with ridges on bottom using the right arm and give it a shake.",
+    "Using the right arm, shake the brown bottle with red label and then place it back.",
+    "Pick the Coca-Cola bottle, shake it with the right arm.",
+    "Use the right arm to lift and shake the dark drink bottle with logo.",
+    "Shake the plastic drink bottle after lifting it.",
+    "Grab the medium dark brown bottle carefully and shake.",
+    "Lift the smooth bottle with red lid with the right arm and shake.",
+    "Catch the long thin bottle and shake it instantly.",
+    "Use the right arm to grab the medium dark brown bottle and shake properly.",
+    "Shake the Coca-Cola bottle after grabbing it.",
+    "Hold the narrow-necked bottle steady, then shake it.",
+    "Lift the dark drink bottle with logo and shake it thoroughly.",
+    "Shake the dark drink bottle with logo after holding it firmly.",
+    "Use the right arm to hold the narrow-necked bottle and shake it.",
+    "Use the right arm to lift and shake the hand-sized soda bottle.",
+    "Grab the red-capped bottle with the right arm and shake.",
+    "Use the right arm to lift and shake the plastic drink bottle.",
+    "Shake the Coca-Cola bottle firmly after grabbing.",
+    "Grab the plastic drink bottle and give it a shake.",
+    "Lift the plastic drink bottle and shake it gently.",
+    "Use the right arm to pick and shake the medium dark brown bottle.",
+    "Utilize the right arm to hold the dark drink bottle with logo and shake it.",
+    "Grab the red-capped bottle and move it to shake.",
+    "Lift up the bottle with white neck and red top using the right arm, then shake.",
+    "Secure the bottle with white neck and red top, shake it, and place it down.",
+    "Pick up the bottle with white neck and red top and shake it well.",
+    "Pick up the plastic drink bottle and shake it.",
+    "Lift the bottle with white neck and red top with the right arm and give it a shake.",
+    "Grip the hand-sized soda bottle using the right arm and shake.",
+    "Hold the bottle with white neck and red top, shake it briefly.",
+    "Shake the dark drink bottle with logo thoroughly after grabbing it.",
+    "Pick the smooth bottle with red lid up using the right arm and shake it.",
+    "Grab the medium dark brown bottle firmly, shake it, and put it down.",
+    "Shake the dark drink bottle with logo after grabbing it.",
+    "Pick the medium dark brown bottle and perform shaking motion.",
+    "Hold the medium dark brown bottle and shake it properly.",
+    "With the right arm, pick the red-capped bottle and shake properly.",
+    "Lift the medium dark brown bottle with the right arm and shake it.",
+    "Secure the dark drink bottle with logo and perform a shake.",
+    "Grab and shake the red-capped bottle using the right arm.",
+    "Use the right arm to grab the narrow-necked bottle and shake it.",
+    "Hold the bottle with white neck and red top with the right arm and shake lightly.",
+    "Pick the medium dark brown bottle up with the right arm and shake.",
+    "Grab the Coca-Cola bottle using the right arm, then shake.",
+    "Grasp the narrow-necked bottle with the right arm and shake it.",
+    "Hold and shake the the hand-sized soda bottle carefully.",
+    "Shake the smooth bottle with red lid using the right arm after grabbing.",
+    "Grab the plastic drink bottle and shake it steadily.",
+    "Shake the the dark drink bottle with logo properly after lifting.",
+    "Shake the Coca-Cola bottle after grabbing it.",
+    "Take the brown bottle with red label using the right arm and give it a shake.",
+    "Using the right arm, shake the narrow-necked bottle and then place it back.",
+    "Pick the Coca-Cola bottle, shake it with the right arm.",
+    "Use the right arm to lift and shake the smooth bottle with red lid.",
+    "Shake the narrow-necked bottle after lifting it.",
+    "Grab the narrow-necked bottle carefully and shake.",
+    "Lift the medium dark brown bottle with the right arm and shake.",
+    "Catch the bottle with ridges on bottom and shake it instantly.",
+    "Use the right arm to grab the Coca-Cola bottle and shake properly.",
+    "Shake the red-capped bottle after grabbing it.",
+    "Hold the red-capped bottle steady, then shake it.",
+    "Lift the long thin bottle and shake it thoroughly.",
+    "Shake the bottle with ridges on bottom after holding it firmly.",
+    "Use the right arm to hold the narrow-necked bottle and shake it.",
+    "Use the right arm to lift and shake the dark drink bottle with logo.",
+    "Grab the Coca-Cola bottle with the right arm and shake.",
+    "Use the right arm to lift and shake the plastic drink bottle.",
+    "Shake the plastic drink bottle firmly after grabbing.",
+    "Grab the narrow-necked bottle and give it a shake.",
+    "Lift the bottle with ridges on bottom and shake it gently.",
+    "Use the right arm to pick and shake the plastic drink bottle.",
+    "Utilize the right arm to hold the red-capped bottle and shake it.",
+    "Grab the long thin bottle and move it to shake.",
+    "Lift up the dark drink bottle with logo using the right arm, then shake.",
+    "Secure the red-capped bottle, shake it, and place it down.",
+    "Pick up the dark drink bottle with logo and shake it well.",
+    "Pick up the plastic drink bottle and shake it.",
+    "Lift the plastic drink bottle with the right arm and give it a shake.",
+    "Grip the smooth bottle with red lid using the right arm and shake.",
+    "Hold the medium dark brown bottle, shake it briefly.",
+    "Shake the smooth bottle with red lid thoroughly after grabbing it.",
+    "Pick the dark drink bottle with logo up using the right arm and shake it.",
+    "Grab the smooth bottle with red lid firmly, shake it, and put it down.",
+    "Shake the hand-sized soda bottle after grabbing it.",
+    "Pick the long thin bottle and perform shaking motion.",
+    "Hold the narrow-necked bottle and shake it properly.",
+    "With the right arm, pick the bottle with white neck and red top and shake properly.",
+    "Lift the medium dark brown bottle with the right arm and shake it.",
+    "Secure the Coca-Cola bottle and perform a shake.",
+    "Grab and shake the dark drink bottle with logo using the right arm.",
+    "Use the right arm to grab the dark drink bottle with logo and shake it.",
+    "Hold the Coca-Cola bottle with the right arm and shake lightly.",
+    "Pick the medium dark brown bottle up with the right arm and shake.",
+    "Grab the Coca-Cola bottle using the right arm, then shake.",
+    "Grasp the red-capped bottle with the right arm and shake it."
+  ],
+  "unseen": [
+    "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.",
+    "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 bottle with red screw cap with the right arm 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.",
+    "Grab the brown 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 give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "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 with the right arm and shake.",
+    "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, 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 brown bottle and shake it.",
+    "Grab the bottle with red screw cap and shake it.",
+    "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 with the right 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 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 plastic soda bottle 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 pick the bottle with red screw cap.",
+    "Pick and shake the the plastic soda 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.",
+    "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 bottle with red screw cap and shake it.",
+    "Grab the plastic soda bottle 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.",
+    "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 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 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 brown bottle 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.",
+    "Pick up the brown bottle with the right arm 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.",
+    "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 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 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 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.",
+    "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 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 pick the brown 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 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.",
+    "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 brown bottle 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.",
+    "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.",
+    "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 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 bottle with red screw cap and shake it.",
+    "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 with the right arm and shake.",
+    "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, 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/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002160.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002160.json
new file mode 100644
index 0000000000000000000000000000000000000000..c420580a47917a6b967c4917424c6859fdfc2967
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002160.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the gray bottle with slight shine using the right arm after grabbing.",
+    "Lift the hand-sized bottle with screw cap with the right arm and give it a shake.",
+    "Shake the bottle shaped like small cylinder after holding it firmly.",
+    "Grab the smooth cylindrical bottle using the right arm, then shake.",
+    "Lift up the smooth cylindrical bottle using the right arm, then shake.",
+    "Take the smooth cylindrical bottle using the right arm and give it a shake.",
+    "Hold the hand-sized bottle with screw cap and shake it properly.",
+    "Lift the plastic bottle with ghost print and shake it gently.",
+    "Grab the plastic bottle with ghost print and shake it steadily.",
+    "Hold the rounded body bottle made of plastic steady, then shake it.",
+    "Use the right arm to lift and shake the hand-sized bottle with screw cap.",
+    "Pick up the smooth cylindrical bottle and shake it.",
+    "Pick the gray bottle with slight shine up with the right arm and shake.",
+    "Secure the medium-sized plastic bottle and perform a shake.",
+    "Using the right arm, shake the bottle shaped like small cylinder and then place it back.",
+    "Pick the rounded body bottle made of plastic, shake it with the right arm.",
+    "Grab the smooth cylindrical bottle and move it to shake.",
+    "Hold and shake the the gray bottle with slight shine carefully.",
+    "With the right arm, pick the gray bottle with slight shine and shake properly.",
+    "Utilize the right arm to hold the bottle with cute ghost drawing and shake it.",
+    "Grab the gray bottle with slight shine carefully and shake.",
+    "Lift the milk-bottle shape design with the right arm and shake it.",
+    "Shake the hand-sized bottle with screw cap firmly after grabbing.",
+    "Use the right arm to lift and shake the bottle with cute ghost drawing.",
+    "Use the right arm to lift and shake the smooth surface bottle with gray shade.",
+    "Grab the light gray colored container bottle and give it a shake.",
+    "Lift the medium-sized plastic bottle and shake it thoroughly.",
+    "Shake the smooth cylindrical bottle after lifting it.",
+    "Use the right arm to grab the medium cylinder-shaped bottle and shake properly.",
+    "Hold the smooth cylindrical bottle, shake it briefly.",
+    "Grip the bottle shaped like small cylinder using the right arm and shake.",
+    "Grab the bottle shaped like small cylinder firmly, shake it, and put it down.",
+    "Shake the smooth cylindrical bottle after grabbing it.",
+    "Secure the plastic bottle with ghost print, shake it, and place it down.",
+    "Shake the the light gray colored container bottle properly after lifting.",
+    "Grab and shake the hand-sized bottle with screw cap using the right arm.",
+    "Lift the light gray colored container bottle with the right arm and shake.",
+    "Use the right arm to hold the smooth surface bottle with gray shade and shake it.",
+    "Shake the gray bottle with slight shine after grabbing it.",
+    "Pick the gray bottle with slight shine and perform shaking motion.",
+    "Grab the plastic bottle with ghost print with the right arm and shake.",
+    "Pick the hand-sized bottle with screw cap up using the right arm and shake it.",
+    "Use the right arm to grab the smooth surface bottle with gray shade and shake it.",
+    "Catch the rounded body bottle made of plastic and shake it instantly.",
+    "Pick up the smooth surface bottle with gray shade and shake it well.",
+    "Shake the plastic bottle with ghost print after grabbing it.",
+    "Shake the smooth cylindrical bottle thoroughly after grabbing it.",
+    "Hold the plastic bottle with ghost print with the right arm and shake lightly.",
+    "Grasp the plastic bottle with ghost print with the right arm and shake it.",
+    "Use the right arm to pick and shake the gray bottle with slight shine.",
+    "Shake the rounded body bottle made of plastic using the right arm after grabbing.",
+    "Lift the medium-sized plastic bottle with the right arm and give it a shake.",
+    "Shake the smooth cylindrical bottle after holding it firmly.",
+    "Grab the smooth cylindrical bottle using the right arm, then shake.",
+    "Lift up the plastic bottle with ghost print using the right arm, then shake.",
+    "Take the milk-bottle shape design using the right arm and give it a shake.",
+    "Hold the rounded body bottle made of plastic and shake it properly.",
+    "Lift the plastic bottle with ghost print and shake it gently.",
+    "Grab the rounded body bottle made of plastic and shake it steadily.",
+    "Hold the medium-sized plastic bottle steady, then shake it.",
+    "Use the right arm to lift and shake the rounded body bottle made of plastic.",
+    "Pick up the smooth cylindrical bottle and shake it.",
+    "Pick the plastic bottle with ghost print up with the right arm and shake.",
+    "Secure the hand-sized bottle with screw cap and perform a shake.",
+    "Using the right arm, shake the light gray colored container bottle and then place it back.",
+    "Pick the medium cylinder-shaped bottle, shake it with the right arm.",
+    "Grab the gray bottle with slight shine and move it to shake.",
+    "Hold and shake the the light gray colored container bottle carefully.",
+    "With the right arm, pick the light gray colored container bottle and shake properly.",
+    "Utilize the right arm to hold the plastic bottle with ghost print and shake it.",
+    "Grab the smooth surface bottle with gray shade carefully and shake.",
+    "Lift the bottle shaped like small cylinder with the right arm and shake it.",
+    "Shake the gray bottle with slight shine firmly after grabbing.",
+    "Use the right arm to lift and shake the light gray colored container bottle.",
+    "Use the right arm to lift and shake the medium cylinder-shaped bottle.",
+    "Grab the light gray colored container bottle and give it a shake.",
+    "Lift the milk-bottle shape design and shake it thoroughly.",
+    "Shake the bottle with cute ghost drawing after lifting it.",
+    "Use the right arm to grab the milk-bottle shape design and shake properly.",
+    "Hold the smooth surface bottle with gray shade, shake it briefly.",
+    "Grip the plastic bottle with ghost print using the right arm and shake.",
+    "Grab the milk-bottle shape design firmly, shake it, and put it down.",
+    "Shake the smooth surface bottle with gray shade after grabbing it.",
+    "Secure the bottle shaped like small cylinder, shake it, and place it down.",
+    "Shake the the smooth cylindrical bottle properly after lifting.",
+    "Grab and shake the milk-bottle shape design using the right arm.",
+    "Lift the hand-sized bottle with screw cap with the right arm and shake.",
+    "Use the right arm to hold the smooth surface bottle with gray shade and shake it.",
+    "Shake the bottle with cute ghost drawing after grabbing it.",
+    "Pick the smooth cylindrical bottle and perform shaking motion.",
+    "Grab the smooth cylindrical bottle with the right arm and shake.",
+    "Pick the bottle shaped like small cylinder up using the right arm and shake it.",
+    "Use the right arm to grab the gray bottle with slight shine and shake it.",
+    "Catch the light gray colored container bottle and shake it instantly.",
+    "Pick up the hand-sized bottle with screw cap and shake it well.",
+    "Shake the bottle shaped like small cylinder after grabbing it.",
+    "Shake the rounded body bottle made of plastic thoroughly after grabbing it.",
+    "Hold the gray bottle with slight shine with the right arm and shake lightly.",
+    "Grasp the light gray colored container bottle with the right arm and shake it.",
+    "Use the right arm to pick and shake the smooth surface bottle with gray shade."
+  ],
+  "unseen": [
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Use the right arm to pick the light gray bottle.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Use the right arm to pick the light gray bottle.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Use the right arm to pick the light gray bottle.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Use the right arm to pick the light gray bottle.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Use the right arm to pick the light gray bottle.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Shake the light gray bottle after picking it with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002169.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002169.json
new file mode 100644
index 0000000000000000000000000000000000000000..83a00780b8638a5a756fa10d10fd33fa00219ab4
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002169.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Utilize the left arm to hold the grooved orange drink bottle and shake it.",
+    "Secure the curved orange soda bottle, shake it, and place it down.",
+    "Pick the ridged orange bottle with grooves, shake it with the left arm.",
+    "Use the left arm to hold the round-bottom bottle with white cap and shake it.",
+    "Using the left arm, shake the cylindrical orange plastic bottle and then place it back.",
+    "Take the curved orange soda bottle using the left arm and give it a shake.",
+    "Shake the orange bottle firmly after grabbing.",
+    "Use the left arm to pick and shake the grooved orange drink bottle.",
+    "Use the left arm to grab the medium bottle with colorful label and shake properly.",
+    "Grab the smooth orange bottle and shake it steadily.",
+    "Shake the orange drink bottle with label after holding it firmly.",
+    "Use the left arm to lift and shake the bottle for holding drinks.",
+    "Grab the orange bottle and move it to shake.",
+    "Shake the round-bottom bottle with white cap after grabbing it.",
+    "Use the left arm to grab the cylindrical orange plastic bottle and shake it.",
+    "Grab and shake the orange bottle using the left arm.",
+    "Pick the light and medium-sized bottle up using the left arm and shake it.",
+    "Pick up the orange drink bottle with label and shake it well.",
+    "Grab the light and medium-sized bottle firmly, shake it, and put it down.",
+    "Catch the light and medium-sized bottle and shake it instantly.",
+    "Shake the light and medium-sized bottle after lifting it.",
+    "Grab the light and medium-sized bottle with the left arm and shake.",
+    "Lift the smooth orange bottle with the left arm and shake.",
+    "Use the left arm to lift and shake the curved orange soda bottle.",
+    "Shake the round-bottom bottle with white cap using the left arm after grabbing.",
+    "Lift the light and medium-sized bottle with the left arm and give it a shake.",
+    "Grab the curved orange soda bottle using the left arm, then shake.",
+    "Pick the grooved orange drink bottle up with the left arm and shake.",
+    "Pick up the medium bottle with colorful label and shake it.",
+    "Use the left arm to lift and shake the bottle for holding drinks.",
+    "With the left arm, pick the smooth orange bottle and shake properly.",
+    "Hold the cylindrical orange plastic bottle, shake it briefly.",
+    "Grab the medium bottle with colorful label carefully and shake.",
+    "Shake the round-bottom bottle with white cap after grabbing it.",
+    "Shake the bottle for holding drinks thoroughly after grabbing it.",
+    "Hold the orange drink bottle with label and shake it properly.",
+    "Pick the medium bottle with colorful label and perform shaking motion.",
+    "Grasp the ridged orange bottle with grooves with the left arm and shake it.",
+    "Hold and shake the the cylindrical orange plastic bottle carefully.",
+    "Secure the medium bottle with colorful label and perform a shake.",
+    "Grab the orange bottle and give it a shake.",
+    "Lift the grooved orange drink bottle and shake it gently.",
+    "Hold the orange drink bottle with label steady, then shake it.",
+    "Lift up the plastic bottle using the left arm, then shake.",
+    "Lift the grooved orange drink bottle and shake it thoroughly.",
+    "Shake the the smooth orange bottle properly after lifting.",
+    "Shake the light and medium-sized bottle after grabbing it.",
+    "Hold the orange drink bottle with label with the left arm and shake lightly.",
+    "Lift the light and medium-sized bottle with the left arm and shake it.",
+    "Grip the orange drink bottle with label using the left arm and shake.",
+    "Utilize the left arm to hold the curved orange soda bottle and shake it.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Pick the round-bottom bottle with white cap, shake it with the left arm.",
+    "Use the left arm to hold the smooth orange bottle and shake it.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "Take the curved orange soda bottle using the left arm and give it a shake.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Use the left arm to pick and shake the medium bottle with colorful label.",
+    "Use the left arm to grab the round-bottom bottle with white cap and shake properly.",
+    "Grab the curved orange soda bottle and shake it steadily.",
+    "Shake the smooth orange bottle after holding it firmly.",
+    "Use the left arm to lift and shake the ridged orange bottle with grooves.",
+    "Grab the curved orange soda bottle and move it to shake.",
+    "Shake the grooved orange drink bottle after grabbing it.",
+    "Use the left arm to grab the light and medium-sized bottle and shake it.",
+    "Grab and shake the medium bottle with colorful label using the left arm.",
+    "Pick the grooved orange drink bottle up using the left arm and shake it.",
+    "Pick up the grooved orange drink bottle and shake it well.",
+    "Grab the bottle for holding drinks firmly, shake it, and put it down.",
+    "Catch the bottle for holding drinks and shake it instantly.",
+    "Shake the orange bottle after lifting it.",
+    "Grab the ridged orange bottle with grooves with the left arm and shake.",
+    "Lift the curved orange soda bottle with the left arm and shake.",
+    "Use the left arm to lift and shake the orange drink bottle with label.",
+    "Shake the grooved orange drink bottle using the left arm after grabbing.",
+    "Lift the orange drink bottle with label with the left arm and give it a shake.",
+    "Grab the curved orange soda bottle using the left arm, then shake.",
+    "Pick the orange bottle up with the left arm and shake.",
+    "Pick up the round-bottom bottle with white cap and shake it.",
+    "Use the left arm to lift and shake the smooth orange bottle.",
+    "With the left arm, pick the smooth orange bottle and shake properly.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Grab the light and medium-sized bottle carefully and shake.",
+    "Shake the grooved orange drink bottle after grabbing it.",
+    "Shake the cylindrical orange plastic bottle thoroughly after grabbing it.",
+    "Hold the ridged orange bottle with grooves and shake it properly.",
+    "Pick the orange drink bottle with label and perform shaking motion.",
+    "Grasp the light and medium-sized bottle with the left arm and shake it.",
+    "Hold and shake the the light and medium-sized bottle carefully.",
+    "Secure the light and medium-sized bottle and perform a shake.",
+    "Grab the light and medium-sized bottle and give it a shake.",
+    "Lift the light and medium-sized bottle and shake it gently.",
+    "Hold the orange drink bottle with label steady, then shake it.",
+    "Lift up the medium bottle with colorful label using the left arm, then shake.",
+    "Lift the medium bottle with colorful label and shake it thoroughly.",
+    "Shake the the light and medium-sized bottle properly after lifting.",
+    "Shake the plastic bottle after grabbing it.",
+    "Hold the orange drink bottle with label with the left arm and shake lightly.",
+    "Lift the grooved orange drink bottle with the left arm and shake it.",
+    "Grip the orange drink bottle with label using the left arm and shake."
+  ],
+  "unseen": [
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the left arm to grab the white capped orange plastic bottle and shake.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the left arm to grab the white capped orange plastic bottle and shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Pick and shake the the bottle with ridged orange grip with the left arm.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick up the white capped orange plastic bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002295.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002295.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1c7681790f1f4a414adca860e5c7175fd15cea1
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002295.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the bottle with white cap and perform a shake.",
+    "Using the right arm, shake the bottle with green label and then place it back.",
+    "Use the right arm to pick and shake the rectangular bottle with cylindrical neck.",
+    "Use the right arm to lift and shake the yellow plastic bottle with white top.",
+    "Use the right arm to hold the yellow bottle with a green design and shake it.",
+    "Hold the yellow plastic bottle with white top and shake it properly.",
+    "Take the bottle with white cap using the right arm and give it a shake.",
+    "Shake the yellow container with rounded edges after grabbing it.",
+    "With the right arm, pick the bottle with green and white labels and shake properly.",
+    "Grab and shake the smooth bottle with rounded edges using the right arm.",
+    "Grab the yellow bottle with a green design and shake it steadily.",
+    "Shake the bottle with white cap firmly after grabbing.",
+    "Lift the bottle with green and white labels with the right arm and give it a shake.",
+    "Grab the bottle with green label with the right arm and shake.",
+    "Use the right arm to lift and shake the yellow bottle with a green design.",
+    "Shake the plastic bottle after lifting it.",
+    "Secure the yellow bottle, shake it, and place it down.",
+    "Lift the smooth bottle with rounded edges and shake it thoroughly.",
+    "Grip the bottle with a smooth plastic body using the right arm and shake.",
+    "Lift the yellow bottle with a green design and shake it gently.",
+    "Grab the rectangular bottle with cylindrical neck and give it a shake.",
+    "Grasp the medium rectangular yellow bottle with the right arm and shake it.",
+    "Pick the yellow container with rounded edges, shake it with the right arm.",
+    "Utilize the right arm to hold the yellow bottle with a green design and shake it.",
+    "Lift up the bottle with a smooth plastic body using the right arm, then shake.",
+    "Pick the rectangular bottle with cylindrical neck up using the right arm and shake it.",
+    "Use the right arm to lift and shake the yellow bottle with a green design.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Pick the smooth bottle with rounded edges and perform shaking motion.",
+    "Pick up the bottle with a smooth plastic body and shake it well.",
+    "Hold the bottle with green label steady, then shake it.",
+    "Lift the smooth bottle with rounded edges with the right arm and shake.",
+    "Grab the rectangular bottle with cylindrical neck firmly, shake it, and put it down.",
+    "Shake the bottle with green and white labels after grabbing it.",
+    "Grab the plastic bottle using the right arm, then shake.",
+    "Use the right arm to grab the rectangular bottle with cylindrical neck and shake it.",
+    "Use the right arm to grab the bottle with green label and shake properly.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Hold and shake the the medium rectangular yellow bottle carefully.",
+    "Shake the bottle with green and white labels thoroughly after grabbing it.",
+    "Pick up the yellow container with rounded edges and shake it.",
+    "Lift the smooth bottle with rounded edges with the right arm and shake it.",
+    "Shake the bottle with green label using the right arm after grabbing.",
+    "Shake the the medium rectangular yellow bottle properly after lifting.",
+    "Shake the bottle with a smooth plastic body after grabbing it.",
+    "Grab the yellow plastic bottle with white top carefully and shake.",
+    "Catch the medium rectangular yellow bottle and shake it instantly.",
+    "Grab the bottle with white cap and move it to shake.",
+    "Shake the bottle with green and white labels after holding it firmly.",
+    "Pick the smooth bottle with rounded edges up with the right arm and shake.",
+    "Secure the medium rectangular yellow bottle and perform a shake.",
+    "Using the right arm, shake the bottle with a smooth plastic body and then place it back.",
+    "Use the right arm to pick and shake the yellow plastic bottle with white top.",
+    "Use the right arm to lift and shake the bottle with green and white labels.",
+    "Use the right arm to hold the yellow plastic bottle with white top and shake it.",
+    "Hold the rectangular bottle with cylindrical neck and shake it properly.",
+    "Take the yellow container with rounded edges using the right arm and give it a shake.",
+    "Shake the bottle with green label after grabbing it.",
+    "With the right arm, pick the yellow bottle and shake properly.",
+    "Grab and shake the bottle with white cap using the right arm.",
+    "Grab the bottle with a smooth plastic body and shake it steadily.",
+    "Shake the smooth bottle with rounded edges firmly after grabbing.",
+    "Lift the yellow plastic bottle with white top with the right arm and give it a shake.",
+    "Grab the smooth bottle with rounded edges with the right arm and shake.",
+    "Use the right arm to lift and shake the yellow bottle with a green design.",
+    "Shake the plastic bottle after lifting it.",
+    "Secure the smooth bottle with rounded edges, shake it, and place it down.",
+    "Lift the medium rectangular yellow bottle and shake it thoroughly.",
+    "Grip the bottle with green and white labels using the right arm and shake.",
+    "Lift the bottle with green and white labels and shake it gently.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grasp the yellow container with rounded edges with the right arm and shake it.",
+    "Pick the bottle with a smooth plastic body, shake it with the right arm.",
+    "Utilize the right arm to hold the yellow bottle with a green design and shake it.",
+    "Lift up the bottle with green and white labels using the right arm, then shake.",
+    "Pick the bottle with green label up using the right arm and shake it.",
+    "Use the right arm to lift and shake the yellow container with rounded edges.",
+    "Hold the yellow bottle with the right arm and shake lightly.",
+    "Pick the yellow bottle and perform shaking motion.",
+    "Pick up the yellow container with rounded edges and shake it well.",
+    "Hold the bottle with green and white labels steady, then shake it.",
+    "Lift the yellow bottle with the right arm and shake.",
+    "Grab the bottle with green label firmly, shake it, and put it down.",
+    "Shake the medium rectangular yellow bottle after grabbing it.",
+    "Grab the medium rectangular yellow bottle using the right arm, then shake.",
+    "Use the right arm to grab the yellow bottle with a green design and shake it.",
+    "Use the right arm to grab the smooth bottle with rounded edges and shake properly.",
+    "Hold the yellow bottle, shake it briefly.",
+    "Hold and shake the the bottle with green label carefully.",
+    "Shake the rectangular bottle with cylindrical neck thoroughly after grabbing it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Lift the bottle with a smooth plastic body with the right arm and shake it.",
+    "Shake the yellow bottle using the right arm after grabbing.",
+    "Shake the the medium rectangular yellow bottle properly after lifting.",
+    "Shake the bottle with a smooth plastic body after grabbing it.",
+    "Grab the bottle with a smooth plastic body carefully and shake.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Grab the yellow container with rounded edges and move it to shake.",
+    "Shake the smooth bottle with rounded edges after holding it firmly.",
+    "Pick the medium rectangular yellow bottle up with the right arm and shake."
+  ],
+  "unseen": [
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002339.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002339.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dc704c92c57d3c28825f853057992558acc7027
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002339.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the smooth plastic bottle with white cap after holding it firmly.",
+    "Pick the medium bottle with glossy surface and perform shaking motion.",
+    "Grab the plastic bottle and give it a shake.",
+    "Utilize the left arm to hold the brown bottle and shake it.",
+    "Lift the smooth brown bottle with green label with the left arm and give it a shake.",
+    "Use the left arm to hold the rectangular-shaped bottle with round cap and shake it.",
+    "Lift the rectangular-shaped bottle with round cap and shake it gently.",
+    "Shake the rectangular-shaped bottle with round cap thoroughly after grabbing it.",
+    "Hold the rectangular brown body with white top and shake it properly.",
+    "Use the left arm to grab the medium bottle with glossy surface and shake properly.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Hold the bottle with green cap with the left arm and shake lightly.",
+    "With the left arm, pick the smooth plastic bottle with white cap and shake properly.",
+    "Grab the dark brown bottle with a squared body and move it to shake.",
+    "Shake the the medium-sized brown plastic bottle properly after lifting.",
+    "Use the left arm to lift and shake the brown bottle with rounded rectangular shape.",
+    "Grab the medium-sized brown plastic bottle using the left arm, then shake.",
+    "Shake the rectangular-shaped bottle with round cap firmly after grabbing.",
+    "Shake the medium bottle with glossy surface after grabbing it.",
+    "Secure the rectangular brown body with white top, shake it, and place it down.",
+    "Pick up the plastic bottle and shake it well.",
+    "Pick the medium-sized brown plastic bottle, shake it with the left arm.",
+    "Grip the rectangular brown body with white top using the left arm and shake.",
+    "Hold and shake the the rectangular brown body with white top carefully.",
+    "Grab and shake the bottle with green cap using the left arm.",
+    "Shake the rectangular brown body with white top using the left arm after grabbing.",
+    "Use the left arm to pick and shake the plastic bottle.",
+    "Lift the smooth brown bottle with green label and shake it thoroughly.",
+    "Use the left arm to lift and shake the medium bottle with glossy surface.",
+    "Hold the medium-sized brown plastic bottle steady, then shake it.",
+    "Grab the brown bottle firmly, shake it, and put it down.",
+    "Pick the medium-sized brown plastic bottle up using the left arm and shake it.",
+    "Catch the smooth plastic bottle with white cap and shake it instantly.",
+    "Lift the brown bottle with the left arm and shake.",
+    "Secure the medium bottle with glossy surface and perform a shake.",
+    "Grab the bottle with green cap with the left arm and shake.",
+    "Lift up the rectangular brown body with white top using the left arm, then shake.",
+    "Use the left arm to grab the smooth plastic bottle with white cap and shake it.",
+    "Lift the smooth plastic bottle with white cap with the left arm and shake it.",
+    "Pick up the rectangular brown body with white top and shake it.",
+    "Grasp the brown bottle with rounded rectangular shape with the left arm and shake it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Take the rectangular-shaped bottle with round cap using the left arm and give it a shake.",
+    "Grab the brown bottle carefully and shake.",
+    "Shake the smooth plastic bottle with white cap after grabbing it.",
+    "Pick the brown bottle with rounded rectangular shape up with the left arm and shake.",
+    "Shake the plastic bottle after lifting it.",
+    "Use the left arm to lift and shake the rectangular-shaped bottle with round cap.",
+    "Hold the rectangular brown body with white top, shake it briefly.",
+    "Using the left arm, shake the medium bottle with glossy surface and then place it back.",
+    "Shake the medium-sized brown plastic bottle after holding it firmly.",
+    "Pick the brown bottle and perform shaking motion.",
+    "Grab the dark brown bottle with a squared body and give it a shake.",
+    "Utilize the left arm to hold the rectangular brown body with white top and shake it.",
+    "Lift the rectangular brown body with white top with the left arm and give it a shake.",
+    "Use the left arm to hold the brown bottle and shake it.",
+    "Lift the medium-sized brown plastic bottle and shake it gently.",
+    "Shake the brown bottle with rounded rectangular shape thoroughly after grabbing it.",
+    "Hold the bottle with green cap and shake it properly.",
+    "Use the left arm to grab the medium-sized brown plastic bottle and shake properly.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Hold the smooth brown bottle with green label with the left arm and shake lightly.",
+    "With the left arm, pick the plastic bottle and shake properly.",
+    "Grab the bottle with green cap and move it to shake.",
+    "Shake the the brown bottle with rounded rectangular shape properly after lifting.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Grab the medium bottle with glossy surface using the left arm, then shake.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Shake the brown bottle with rounded rectangular shape after grabbing it.",
+    "Secure the brown bottle, shake it, and place it down.",
+    "Pick up the bottle with green cap and shake it well.",
+    "Pick the bottle with green cap, shake it with the left arm.",
+    "Grip the medium-sized brown plastic bottle using the left arm and shake.",
+    "Hold and shake the the bottle with green cap carefully.",
+    "Grab and shake the smooth brown bottle with green label using the left arm.",
+    "Shake the bottle with flat sides and logo using the left arm after grabbing.",
+    "Use the left arm to pick and shake the medium-sized brown plastic bottle.",
+    "Lift the smooth plastic bottle with white cap and shake it thoroughly.",
+    "Use the left arm to lift and shake the smooth plastic bottle with white cap.",
+    "Hold the rectangular-shaped bottle with round cap steady, then shake it.",
+    "Grab the bottle with flat sides and logo firmly, shake it, and put it down.",
+    "Pick the plastic bottle up using the left arm and shake it.",
+    "Catch the dark brown bottle with a squared body and shake it instantly.",
+    "Lift the bottle with green cap with the left arm and shake.",
+    "Secure the smooth brown bottle with green label and perform a shake.",
+    "Grab the bottle with flat sides and logo with the left arm and shake.",
+    "Lift up the rectangular brown body with white top using the left arm, then shake.",
+    "Use the left arm to grab the bottle with green cap and shake it.",
+    "Lift the medium bottle with glossy surface with the left arm and shake it.",
+    "Pick up the medium bottle with glossy surface and shake it.",
+    "Grasp the rectangular brown body with white top with the left arm and shake it.",
+    "Shake the smooth plastic bottle with white cap after grabbing it.",
+    "Take the smooth brown bottle with green label using the left arm and give it a shake.",
+    "Grab the brown bottle with rounded rectangular shape carefully and shake.",
+    "Shake the rectangular-shaped bottle with round cap after grabbing it.",
+    "Pick the bottle with flat sides and logo up with the left arm and shake.",
+    "Shake the smooth brown bottle with green label after lifting it.",
+    "Use the left arm to lift and shake the brown bottle with rounded rectangular shape.",
+    "Hold the medium-sized brown plastic bottle, shake it briefly.",
+    "Using the left arm, shake the rectangular-shaped bottle with round cap and then place it back."
+  ],
+  "unseen": [
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Shake the liquid container dark brown plastic after picking it with the left arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Pick up the bottle with green label and white lid with the left arm and shake.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Pick up the bottle with green label and white lid with the left arm and shake.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Pick up the bottle with green label and white lid with the left arm and shake.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Pick up the bottle with green label and white lid with the left arm and shake.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Shake the liquid container dark brown plastic after picking it with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Pick up the bottle with green label and white lid with the left arm and shake.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the liquid container dark brown plastic and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003095.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003095.json
new file mode 100644
index 0000000000000000000000000000000000000000..a355cabf0014f99dd6832f1bfcb5ef41ed89b632
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003095.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the plastic bottle steady, then shake it.",
+    "Lift the plastic bottle with the left arm and give it a shake.",
+    "Grab the rectangular bottle with cylindrical neck and shake it steadily.",
+    "Shake the bottle with green and white labels after grabbing it.",
+    "Shake the bottle with a smooth plastic body after holding it firmly.",
+    "Take the bottle with white cap using the left arm and give it a shake.",
+    "Using the left arm, shake the bottle with green label and then place it back.",
+    "Grasp the yellow bottle with the left arm and shake it.",
+    "Lift up the bottle with a smooth plastic body using the left arm, then shake.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Shake the rectangular bottle with cylindrical neck thoroughly after grabbing it.",
+    "Grab and shake the yellow bottle using the left arm.",
+    "Lift the yellow bottle with a green design and shake it gently.",
+    "Use the left arm to hold the medium rectangular yellow bottle and shake it.",
+    "Grab the yellow bottle with a green design firmly, shake it, and put it down.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Lift the bottle with green and white labels and shake it thoroughly.",
+    "Use the left arm to lift and shake the medium rectangular yellow bottle.",
+    "Grip the yellow container with rounded edges using the left arm and shake.",
+    "Pick up the yellow bottle with a green design and shake it well.",
+    "Grab the yellow bottle with the left arm and shake.",
+    "Hold and shake the the yellow container with rounded edges carefully.",
+    "Lift the yellow bottle with the left arm and shake it.",
+    "Use the left arm to lift and shake the bottle with a smooth plastic body.",
+    "With the left arm, pick the yellow bottle with a green design and shake properly.",
+    "Use the left arm to grab the yellow bottle and shake it.",
+    "Secure the bottle with green label and perform a shake.",
+    "Shake the yellow bottle with a green design after grabbing it.",
+    "Shake the bottle with green and white labels after grabbing it.",
+    "Hold the yellow bottle with the left arm and shake lightly.",
+    "Secure the yellow container with rounded edges, shake it, and place it down.",
+    "Lift the bottle with white cap with the left arm and shake.",
+    "Shake the yellow bottle with a green design firmly after grabbing.",
+    "Grab the bottle with green and white labels using the left arm, then shake.",
+    "Hold the yellow bottle with a green design, shake it briefly.",
+    "Use the left arm to grab the smooth bottle with rounded edges and shake properly.",
+    "Pick up the medium rectangular yellow bottle and shake it.",
+    "Use the left arm to pick and shake the yellow container with rounded edges.",
+    "Shake the plastic bottle after lifting it.",
+    "Pick the yellow container with rounded edges, shake it with the left arm.",
+    "Pick the yellow bottle with a green design and perform shaking motion.",
+    "Hold the bottle with a smooth plastic body and shake it properly.",
+    "Pick the plastic bottle up with the left arm and shake.",
+    "Use the left arm to lift and shake the yellow bottle.",
+    "Utilize the left arm to hold the yellow bottle and shake it.",
+    "Shake the yellow plastic bottle with white top using the left arm after grabbing.",
+    "Pick the bottle with green and white labels up using the left arm and shake it.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Grab the bottle with white cap and move it to shake.",
+    "Grab the medium rectangular yellow bottle carefully and shake.",
+    "Hold the yellow plastic bottle with white top steady, then shake it.",
+    "Lift the plastic bottle with the left arm and give it a shake.",
+    "Grab the yellow container with rounded edges and shake it steadily.",
+    "Shake the smooth bottle with rounded edges after grabbing it.",
+    "Shake the yellow container with rounded edges after holding it firmly.",
+    "Take the medium rectangular yellow bottle using the left arm and give it a shake.",
+    "Using the left arm, shake the yellow bottle with a green design and then place it back.",
+    "Grasp the yellow bottle with the left arm and shake it.",
+    "Lift up the medium rectangular yellow bottle using the left arm, then shake.",
+    "Shake the the bottle with a smooth plastic body properly after lifting.",
+    "Shake the yellow container with rounded edges thoroughly after grabbing it.",
+    "Grab and shake the bottle with green and white labels using the left arm.",
+    "Lift the bottle with a smooth plastic body and shake it gently.",
+    "Use the left arm to hold the bottle with a smooth plastic body and shake it.",
+    "Grab the bottle with white cap firmly, shake it, and put it down.",
+    "Grab the bottle with green and white labels and give it a shake.",
+    "Lift the bottle with green label and shake it thoroughly.",
+    "Use the left arm to lift and shake the yellow bottle.",
+    "Grip the bottle with green label using the left arm and shake.",
+    "Pick up the bottle with a smooth plastic body and shake it well.",
+    "Grab the bottle with white cap with the left arm and shake.",
+    "Hold and shake the the medium rectangular yellow bottle carefully.",
+    "Lift the medium rectangular yellow bottle with the left arm and shake it.",
+    "Use the left arm to lift and shake the yellow plastic bottle with white top.",
+    "With the left arm, pick the yellow bottle with a green design and shake properly.",
+    "Use the left arm to grab the bottle with green and white labels and shake it.",
+    "Secure the rectangular bottle with cylindrical neck and perform a shake.",
+    "Shake the smooth bottle with rounded edges after grabbing it.",
+    "Shake the yellow plastic bottle with white top after grabbing it.",
+    "Hold the yellow container with rounded edges with the left arm and shake lightly.",
+    "Secure the bottle with white cap, shake it, and place it down.",
+    "Lift the bottle with a smooth plastic body with the left arm and shake.",
+    "Shake the bottle with green label firmly after grabbing.",
+    "Grab the yellow bottle using the left arm, then shake.",
+    "Hold the smooth bottle with rounded edges, shake it briefly.",
+    "Use the left arm to grab the bottle with green and white labels and shake properly.",
+    "Pick up the bottle with a smooth plastic body and shake it.",
+    "Use the left arm to pick and shake the bottle with a smooth plastic body.",
+    "Shake the yellow bottle after lifting it.",
+    "Pick the medium rectangular yellow bottle, shake it with the left arm.",
+    "Pick the bottle with white cap and perform shaking motion.",
+    "Hold the rectangular bottle with cylindrical neck and shake it properly.",
+    "Pick the rectangular bottle with cylindrical neck up with the left arm and shake.",
+    "Use the left arm to lift and shake the bottle with white cap.",
+    "Utilize the left arm to hold the medium rectangular yellow bottle and shake it.",
+    "Shake the bottle with white cap using the left arm after grabbing.",
+    "Pick the bottle with white cap up using the left arm and shake it.",
+    "Catch the yellow container with rounded edges and shake it instantly.",
+    "Grab the plastic bottle and move it to shake.",
+    "Grab the bottle with green label carefully and shake."
+  ],
+  "unseen": [
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003118.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003118.json
new file mode 100644
index 0000000000000000000000000000000000000000..9af6b9a4e3c7763c0644adbb54cc41b735ef063d
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003118.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to pick and shake the bottle with ribbed orange bottom.",
+    "Shake the medium orange bottle after lifting it.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Pick the plastic bottle up using the right arm and shake it.",
+    "Hold the yellow label bottle, shake it briefly.",
+    "Utilize the right arm to hold the plastic bottle and shake it.",
+    "Pick the orange and white bottle with cap up with the right arm and shake.",
+    "Shake the bottle with ribbed orange bottom after grabbing it.",
+    "Grab the plastic bottle using the right arm, then shake.",
+    "Grab the yellow label bottle and move it to shake.",
+    "Grab the white and orange plastic bottle carefully and shake.",
+    "Lift the white and orange plastic bottle with the right arm and shake it.",
+    "Shake the drinking bottle with yellow label after grabbing it.",
+    "Lift up the yellow label bottle using the right arm, then shake.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Use the right arm to lift and shake the cylindrical orange and white bottle.",
+    "Hold the white and orange plastic bottle steady, then shake it.",
+    "Lift the yellow label bottle with the right arm and give it a shake.",
+    "Secure the medium bottle with orange lid and perform a shake.",
+    "Pick up the orange bottle and shake it.",
+    "Grip the medium bottle with orange lid using the right arm and shake.",
+    "Hold and shake the the orange and white bottle with cap carefully.",
+    "Lift the yellow label bottle and shake it thoroughly.",
+    "Hold the orange and white bottle with cap and shake it properly.",
+    "Use the right arm to lift and shake the white and orange plastic bottle.",
+    "Lift the bottle with ribbed orange bottom and shake it gently.",
+    "Grab the smooth plastic bottle firmly, shake it, and put it down.",
+    "Shake the medium orange bottle firmly after grabbing.",
+    "With the right arm, pick the drinking bottle with yellow label and shake properly.",
+    "Shake the yellow label bottle thoroughly after grabbing it.",
+    "Pick the medium orange bottle, shake it with the right arm.",
+    "Take the drinking bottle with yellow label using the right arm and give it a shake.",
+    "Grab the yellow label bottle with the right arm and shake.",
+    "Catch the bottle with ribbed orange bottom and shake it instantly.",
+    "Shake the medium orange bottle using the right arm after grabbing.",
+    "Pick the orange and white bottle with cap and perform shaking motion.",
+    "Lift the orange and white bottle with cap with the right arm and shake.",
+    "Use the right arm to hold the smooth plastic bottle and shake it.",
+    "Grasp the bottle with ribbed orange bottom with the right arm and shake it.",
+    "Pick up the white and orange plastic bottle and shake it well.",
+    "Hold the drinking bottle with yellow label with the right arm and shake lightly.",
+    "Secure the medium bottle with orange lid, shake it, and place it down.",
+    "Use the right arm to grab the yellow label bottle and shake it.",
+    "Use the right arm to grab the bottle with orange cap and shake properly.",
+    "Grab and shake the yellow label bottle using the right arm.",
+    "Grab the orange and white bottle with cap and shake it steadily.",
+    "Shake the yellow label bottle after holding it firmly.",
+    "Shake the bottle with ribbed orange bottom after grabbing it.",
+    "Use the right arm to lift and shake the orange and white bottle with cap.",
+    "Using the right arm, shake the bottle with orange cap and then place it back.",
+    "Use the right arm to pick and shake the bottle with ribbed orange bottom.",
+    "Shake the yellow label bottle after lifting it.",
+    "Shake the the drinking bottle with yellow label properly after lifting.",
+    "Pick the bottle with orange cap up using the right arm and shake it.",
+    "Hold the cylindrical orange and white bottle, shake it briefly.",
+    "Utilize the right arm to hold the bottle with orange cap and shake it.",
+    "Pick the plastic bottle up with the right arm and shake.",
+    "Shake the white and orange plastic bottle after grabbing it.",
+    "Grab the smooth plastic bottle using the right arm, then shake.",
+    "Grab the bottle with orange cap and move it to shake.",
+    "Grab the yellow label bottle carefully and shake.",
+    "Lift the orange bottle with the right arm and shake it.",
+    "Shake the white and orange plastic bottle after grabbing it.",
+    "Lift up the bottle with orange cap using the right arm, then shake.",
+    "Grab the bottle with ribbed orange bottom and give it a shake.",
+    "Use the right arm to lift and shake the orange and white bottle with cap.",
+    "Hold the medium bottle with orange lid steady, then shake it.",
+    "Lift the bottle with ribbed orange bottom with the right arm and give it a shake.",
+    "Secure the orange and white bottle with cap and perform a shake.",
+    "Pick up the orange bottle and shake it.",
+    "Grip the orange bottle using the right arm and shake.",
+    "Hold and shake the the drinking bottle with yellow label carefully.",
+    "Lift the yellow label bottle and shake it thoroughly.",
+    "Hold the smooth plastic bottle and shake it properly.",
+    "Use the right arm to lift and shake the drinking bottle with yellow label.",
+    "Lift the medium orange bottle and shake it gently.",
+    "Grab the drinking bottle with yellow label firmly, shake it, and put it down.",
+    "Shake the medium bottle with orange lid firmly after grabbing.",
+    "With the right arm, pick the bottle with ribbed orange bottom and shake properly.",
+    "Shake the medium orange bottle thoroughly after grabbing it.",
+    "Pick the medium bottle with orange lid, shake it with the right arm.",
+    "Take the orange and white bottle with cap using the right arm and give it a shake.",
+    "Grab the medium orange bottle with the right arm and shake.",
+    "Catch the yellow label bottle and shake it instantly.",
+    "Shake the bottle with orange cap using the right arm after grabbing.",
+    "Pick the medium orange bottle and perform shaking motion.",
+    "Lift the cylindrical orange and white bottle with the right arm and shake.",
+    "Use the right arm to hold the medium bottle with orange lid and shake it.",
+    "Grasp the white and orange plastic bottle with the right arm and shake it.",
+    "Pick up the smooth plastic bottle and shake it well.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Secure the smooth plastic bottle, shake it, and place it down.",
+    "Use the right arm to grab the medium bottle with orange lid and shake it.",
+    "Use the right arm to grab the plastic bottle and shake properly.",
+    "Grab and shake the bottle with ribbed orange bottom using the right arm.",
+    "Grab the yellow label bottle and shake it steadily.",
+    "Shake the cylindrical orange and white bottle after holding it firmly.",
+    "Shake the medium orange bottle after grabbing it.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Using the right arm, shake the orange and white bottle with cap and then place it back."
+  ],
+  "unseen": [
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003245.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003245.json
new file mode 100644
index 0000000000000000000000000000000000000000..14a462c6b003d1e17cc195158040a60e02985fa7
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003245.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, pick the curved orange soda bottle and shake properly.",
+    "Lift up the grooved orange drink bottle using the right arm, then shake.",
+    "Using the right arm, shake the orange drink bottle with label and then place it back.",
+    "Shake the orange drink bottle with label after lifting it.",
+    "Shake the the medium bottle with colorful label properly after lifting.",
+    "Take the cylindrical orange plastic bottle using the right arm and give it a shake.",
+    "Lift the grooved orange drink bottle and shake it thoroughly.",
+    "Use the right arm to pick and shake the bottle for holding drinks.",
+    "Shake the ridged orange bottle with grooves firmly after grabbing.",
+    "Shake the curved orange soda bottle after grabbing it.",
+    "Hold the ridged orange bottle with grooves with the right arm and shake lightly.",
+    "Use the right arm to lift and shake the orange drink bottle with label.",
+    "Grab the grooved orange drink bottle and shake it steadily.",
+    "Hold the grooved orange drink bottle and shake it properly.",
+    "Pick the orange bottle and perform shaking motion.",
+    "Use the right arm to lift and shake the cylindrical orange plastic bottle.",
+    "Pick up the plastic bottle and shake it well.",
+    "Grab the curved orange soda bottle with the right arm and shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grab and shake the grooved orange drink bottle using the right arm.",
+    "Grab the bottle for holding drinks using the right arm, then shake.",
+    "Hold the round-bottom bottle with white cap, shake it briefly.",
+    "Grab the orange drink bottle with label firmly, shake it, and put it down.",
+    "Secure the orange bottle and perform a shake.",
+    "Grab the curved orange soda bottle and move it to shake.",
+    "Use the right arm to grab the bottle for holding drinks and shake it.",
+    "Pick the cylindrical orange plastic bottle up with the right arm and shake.",
+    "Secure the cylindrical orange plastic bottle, shake it, and place it down.",
+    "Lift the orange bottle with the right arm and shake it.",
+    "Shake the bottle for holding drinks after holding it firmly.",
+    "Use the right arm to lift and shake the light and medium-sized bottle.",
+    "Lift the orange drink bottle with label with the right arm and give it a shake.",
+    "Lift the ridged orange bottle with grooves with the right arm and shake.",
+    "Grip the ridged orange bottle with grooves using the right arm and shake.",
+    "Lift the ridged orange bottle with grooves and shake it gently.",
+    "Hold the round-bottom bottle with white cap steady, then shake it.",
+    "Pick up the bottle for holding drinks and shake it.",
+    "Pick the smooth orange bottle up using the right arm and shake it.",
+    "Grab the plastic bottle carefully and shake.",
+    "Utilize the right arm to hold the cylindrical orange plastic bottle and shake it.",
+    "Grasp the light and medium-sized bottle with the right arm and shake it.",
+    "Grab the grooved orange drink bottle and give it a shake.",
+    "Hold and shake the the bottle for holding drinks carefully.",
+    "Shake the light and medium-sized bottle after grabbing it.",
+    "Use the right arm to hold the round-bottom bottle with white cap and shake it.",
+    "Shake the smooth orange bottle using the right arm after grabbing.",
+    "Pick the orange drink bottle with label, shake it with the right arm.",
+    "Shake the light and medium-sized bottle thoroughly after grabbing it.",
+    "Catch the orange bottle and shake it instantly.",
+    "Use the right arm to grab the orange drink bottle with label and shake properly.",
+    "With the right arm, pick the curved orange soda bottle and shake properly.",
+    "Lift up the round-bottom bottle with white cap using the right arm, then shake.",
+    "Using the right arm, shake the plastic bottle and then place it back.",
+    "Shake the light and medium-sized bottle after lifting it.",
+    "Shake the the light and medium-sized bottle properly after lifting.",
+    "Take the grooved orange drink bottle using the right arm and give it a shake.",
+    "Lift the medium bottle with colorful label and shake it thoroughly.",
+    "Use the right arm to pick and shake the ridged orange bottle with grooves.",
+    "Shake the orange bottle firmly after grabbing.",
+    "Shake the orange drink bottle with label after grabbing it.",
+    "Hold the ridged orange bottle with grooves with the right arm and shake lightly.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Grab the grooved orange drink bottle and shake it steadily.",
+    "Hold the round-bottom bottle with white cap and shake it properly.",
+    "Pick the orange bottle and perform shaking motion.",
+    "Use the right arm to lift and shake the smooth orange bottle.",
+    "Pick up the cylindrical orange plastic bottle and shake it well.",
+    "Grab the medium bottle with colorful label with the right arm and shake.",
+    "Shake the grooved orange drink bottle after grabbing it.",
+    "Grab and shake the light and medium-sized bottle using the right arm.",
+    "Grab the round-bottom bottle with white cap using the right arm, then shake.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Grab the bottle for holding drinks firmly, shake it, and put it down.",
+    "Secure the bottle for holding drinks and perform a shake.",
+    "Grab the plastic bottle and move it to shake.",
+    "Use the right arm to grab the round-bottom bottle with white cap and shake it.",
+    "Pick the light and medium-sized bottle up with the right arm and shake.",
+    "Secure the round-bottom bottle with white cap, shake it, and place it down.",
+    "Lift the light and medium-sized bottle with the right arm and shake it.",
+    "Shake the medium bottle with colorful label after holding it firmly.",
+    "Use the right arm to lift and shake the ridged orange bottle with grooves.",
+    "Lift the round-bottom bottle with white cap with the right arm and give it a shake.",
+    "Lift the plastic bottle with the right arm and shake.",
+    "Grip the medium bottle with colorful label using the right arm and shake.",
+    "Lift the light and medium-sized bottle and shake it gently.",
+    "Hold the round-bottom bottle with white cap steady, then shake it.",
+    "Pick up the plastic bottle and shake it.",
+    "Pick the orange bottle up using the right arm and shake it.",
+    "Grab the round-bottom bottle with white cap carefully and shake.",
+    "Utilize the right arm to hold the cylindrical orange plastic bottle and shake it.",
+    "Grasp the ridged orange bottle with grooves with the right arm and shake it.",
+    "Grab the light and medium-sized bottle and give it a shake.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Shake the plastic bottle after grabbing it.",
+    "Use the right arm to hold the bottle for holding drinks and shake it.",
+    "Shake the medium bottle with colorful label using the right arm after grabbing.",
+    "Pick the orange drink bottle with label, shake it with the right arm.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Catch the smooth orange bottle and shake it instantly.",
+    "Use the right arm to grab the ridged orange bottle with grooves and shake properly."
+  ],
+  "unseen": [
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Grab the white capped orange plastic bottle and give it a shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003264.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003264.json
new file mode 100644
index 0000000000000000000000000000000000000000..8884d6a54e6e5ab8d4a55d60337c8479810f2e8a
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003264.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the beverage bottle with black body thoroughly after grabbing it.",
+    "Shake the black plastic bottle with Pepsi logo using the right arm after grabbing.",
+    "Grasp the yellow-capped cylindrical bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the black bottle.",
+    "Grab the yellow-capped cylindrical bottle carefully and shake.",
+    "Utilize the right arm to hold the medium bottle with yellow cap and shake it.",
+    "Use the right arm to lift and shake the plastic bottle with colorful label.",
+    "Secure the black bottle and perform a shake.",
+    "Hold the plastic bottle with colorful label, shake it briefly.",
+    "Lift the black cylindrical bottle with ridges and shake it gently.",
+    "Shake the black bottle after lifting it.",
+    "Pick the smooth black bottle with ridges up with the right arm and shake.",
+    "Grab the yellow-capped cylindrical bottle using the right arm, then shake.",
+    "Lift the yellow capped drink bottle with the right arm and give it a shake.",
+    "Grab the yellow capped drink bottle with the right arm and shake.",
+    "Pick the black bottle and perform shaking motion.",
+    "Lift the medium black bottle with printed label with the right arm and shake it.",
+    "Using the right arm, shake the beverage bottle with black body and then place it back.",
+    "Grab the yellow-capped cylindrical bottle firmly, shake it, and put it down.",
+    "Use the right arm to grab the yellow-capped cylindrical bottle and shake properly.",
+    "Pick up the plastic bottle with colorful label and shake it well.",
+    "Use the right arm to hold the drink bottle with rounded yellow lid and shake it.",
+    "Hold and shake the the yellow-capped cylindrical bottle carefully.",
+    "Shake the black cylindrical bottle with ridges after holding it firmly.",
+    "Catch the medium bottle with yellow cap and shake it instantly.",
+    "With the right arm, pick the plastic bottle with colorful label and shake properly.",
+    "Pick up the bottle with blue and yellow print and shake it.",
+    "Hold the black plastic bottle with Pepsi logo and shake it properly.",
+    "Lift the plastic bottle with colorful label with the right arm and shake.",
+    "Use the right arm to lift and shake the medium bottle with yellow cap.",
+    "Use the right arm to grab the medium bottle with yellow cap and shake it.",
+    "Shake the the medium bottle with yellow cap properly after lifting.",
+    "Shake the black bottle after grabbing it.",
+    "Grab the medium bottle with yellow cap and move it to shake.",
+    "Hold the yellow-capped cylindrical bottle steady, then shake it.",
+    "Pick the smooth black bottle with ridges up using the right arm and shake it.",
+    "Secure the black plastic bottle with Pepsi logo, shake it, and place it down.",
+    "Shake the bottle with blue and yellow print firmly after grabbing.",
+    "Grip the black cylindrical bottle with ridges using the right arm and shake.",
+    "Grab the black bottle and give it a shake.",
+    "Use the right arm to pick and shake the medium black bottle with printed label.",
+    "Hold the medium black bottle with printed label with the right arm and shake lightly.",
+    "Pick the yellow capped drink bottle, shake it with the right arm.",
+    "Take the black cylindrical bottle with ridges using the right arm and give it a shake.",
+    "Lift the black cylindrical bottle with ridges and shake it thoroughly.",
+    "Shake the medium bottle with yellow cap after grabbing it.",
+    "Grab and shake the medium bottle with yellow cap using the right arm.",
+    "Grab the medium bottle with yellow cap and shake it steadily.",
+    "Shake the black bottle after grabbing it.",
+    "Lift up the medium black bottle with printed label using the right arm, then shake.",
+    "Shake the plastic bottle with colorful label thoroughly after grabbing it.",
+    "Shake the yellow-capped cylindrical bottle using the right arm after grabbing.",
+    "Grasp the smooth black bottle with ridges with the right arm and shake it.",
+    "Use the right arm to lift and shake the yellow capped drink bottle.",
+    "Grab the plastic bottle with colorful label carefully and shake.",
+    "Utilize the right arm to hold the black bottle and shake it.",
+    "Use the right arm to lift and shake the plastic bottle with colorful label.",
+    "Secure the black bottle and perform a shake.",
+    "Hold the yellow capped drink bottle, shake it briefly.",
+    "Lift the medium bottle with yellow cap and shake it gently.",
+    "Shake the yellow-capped cylindrical bottle after lifting it.",
+    "Pick the smooth black bottle with ridges up with the right arm and shake.",
+    "Grab the drink bottle with rounded yellow lid using the right arm, then shake.",
+    "Lift the bottle with blue and yellow print with the right arm and give it a shake.",
+    "Grab the medium bottle with yellow cap with the right arm and shake.",
+    "Pick the medium bottle with yellow cap and perform shaking motion.",
+    "Lift the plastic bottle with colorful label with the right arm and shake it.",
+    "Using the right arm, shake the medium bottle with yellow cap and then place it back.",
+    "Grab the bottle with blue and yellow print firmly, shake it, and put it down.",
+    "Use the right arm to grab the drink bottle with rounded yellow lid and shake properly.",
+    "Pick up the medium bottle with yellow cap and shake it well.",
+    "Use the right arm to hold the medium bottle with yellow cap and shake it.",
+    "Hold and shake the the yellow capped drink bottle carefully.",
+    "Shake the beverage bottle with black body after holding it firmly.",
+    "Catch the black plastic bottle with Pepsi logo and shake it instantly.",
+    "With the right arm, pick the medium black bottle with printed label and shake properly.",
+    "Pick up the bottle with blue and yellow print and shake it.",
+    "Hold the black bottle and shake it properly.",
+    "Lift the smooth black bottle with ridges with the right arm and shake.",
+    "Use the right arm to lift and shake the beverage bottle with black body.",
+    "Use the right arm to grab the yellow capped drink bottle and shake it.",
+    "Shake the the yellow-capped cylindrical bottle properly after lifting.",
+    "Shake the bottle with blue and yellow print after grabbing it.",
+    "Grab the smooth black bottle with ridges and move it to shake.",
+    "Hold the beverage bottle with black body steady, then shake it.",
+    "Pick the bottle with blue and yellow print up using the right arm and shake it.",
+    "Secure the yellow capped drink bottle, shake it, and place it down.",
+    "Shake the black cylindrical bottle with ridges firmly after grabbing.",
+    "Grip the yellow capped drink bottle using the right arm and shake.",
+    "Grab the yellow capped drink bottle and give it a shake.",
+    "Use the right arm to pick and shake the beverage bottle with black body.",
+    "Hold the plastic bottle with colorful label with the right arm and shake lightly.",
+    "Pick the medium black bottle with printed label, shake it with the right arm.",
+    "Take the bottle with blue and yellow print using the right arm and give it a shake.",
+    "Lift the medium black bottle with printed label and shake it thoroughly.",
+    "Shake the black bottle after grabbing it.",
+    "Grab and shake the medium bottle with yellow cap using the right arm.",
+    "Grab the medium bottle with yellow cap and shake it steadily.",
+    "Shake the yellow capped drink bottle after grabbing it.",
+    "Lift up the black cylindrical bottle with ridges using the right arm, then shake."
+  ],
+  "unseen": [
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick and shake the the plastic bottle with blue label with the right arm.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick and shake the the plastic bottle with blue label with the right arm.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003276.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003276.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bff8f102bc474fb3411009456e91ac76b831623
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003276.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the medium rectangular yellow bottle firmly after grabbing.",
+    "Catch the bottle with green label and shake it instantly.",
+    "Use the right arm to hold the bottle with green label and shake it.",
+    "Pick the rectangular bottle with cylindrical neck up with the right arm and shake.",
+    "Lift the yellow bottle with a green design with the right arm and give it a shake.",
+    "Pick up the rectangular bottle with cylindrical neck and shake it.",
+    "Grab the bottle with a smooth plastic body carefully and shake.",
+    "With the right arm, pick the rectangular bottle with cylindrical neck and shake properly.",
+    "Utilize the right arm to hold the plastic bottle and shake it.",
+    "Lift up the yellow plastic bottle with white top using the right arm, then shake.",
+    "Use the right arm to grab the yellow container with rounded edges and shake it.",
+    "Shake the rectangular bottle with cylindrical neck thoroughly after grabbing it.",
+    "Hold the rectangular bottle with cylindrical neck steady, then shake it.",
+    "Hold and shake the the bottle with green label carefully.",
+    "Shake the plastic bottle after grabbing it.",
+    "Use the right arm to lift and shake the rectangular bottle with cylindrical neck.",
+    "Grab the bottle with white cap and move it to shake.",
+    "Pick up the smooth bottle with rounded edges and shake it well.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Shake the the bottle with a smooth plastic body properly after lifting.",
+    "Lift the medium rectangular yellow bottle with the right arm and shake it.",
+    "Lift the medium rectangular yellow bottle and shake it thoroughly.",
+    "Lift the plastic bottle and shake it gently.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Shake the yellow plastic bottle with white top after lifting it.",
+    "Pick the smooth bottle with rounded edges, shake it with the right arm.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Use the right arm to pick and shake the bottle with green and white labels.",
+    "Shake the yellow bottle after grabbing it.",
+    "Pick the yellow plastic bottle with white top up using the right arm and shake it.",
+    "Use the right arm to lift and shake the yellow bottle.",
+    "Shake the bottle with white cap after grabbing it.",
+    "Grab the bottle with green and white labels using the right arm, then shake.",
+    "Grab the plastic bottle with the right arm and shake.",
+    "Hold the smooth bottle with rounded edges and shake it properly.",
+    "Take the yellow plastic bottle with white top using the right arm and give it a shake.",
+    "Secure the bottle with green label, shake it, and place it down.",
+    "Lift the bottle with white cap with the right arm and shake.",
+    "Grasp the rectangular bottle with cylindrical neck with the right arm and shake it.",
+    "Using the right arm, shake the bottle with white cap and then place it back.",
+    "Use the right arm to lift and shake the yellow plastic bottle with white top.",
+    "Grab the bottle with a smooth plastic body and give it a shake.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Secure the bottle with white cap and perform a shake.",
+    "Shake the yellow bottle using the right arm after grabbing.",
+    "Grab the bottle with a smooth plastic body and shake it steadily.",
+    "Grip the yellow container with rounded edges using the right arm and shake.",
+    "Use the right arm to grab the bottle with a smooth plastic body and shake properly.",
+    "Hold the smooth bottle with rounded edges, shake it briefly.",
+    "Grab and shake the medium rectangular yellow bottle using the right arm.",
+    "Shake the yellow bottle with a green design firmly after grabbing.",
+    "Catch the bottle with green label and shake it instantly.",
+    "Use the right arm to hold the smooth bottle with rounded edges and shake it.",
+    "Pick the bottle with white cap up with the right arm and shake.",
+    "Lift the medium rectangular yellow bottle with the right arm and give it a shake.",
+    "Pick up the yellow plastic bottle with white top and shake it.",
+    "Grab the bottle with green label carefully and shake.",
+    "With the right arm, pick the yellow container with rounded edges and shake properly.",
+    "Utilize the right arm to hold the bottle with green and white labels and shake it.",
+    "Lift up the rectangular bottle with cylindrical neck using the right arm, then shake.",
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Shake the bottle with white cap thoroughly after grabbing it.",
+    "Hold the yellow bottle steady, then shake it.",
+    "Hold and shake the the medium rectangular yellow bottle carefully.",
+    "Shake the yellow container with rounded edges after grabbing it.",
+    "Use the right arm to lift and shake the rectangular bottle with cylindrical neck.",
+    "Grab the yellow bottle with a green design and move it to shake.",
+    "Pick up the plastic bottle and shake it well.",
+    "Shake the rectangular bottle with cylindrical neck after holding it firmly.",
+    "Shake the the yellow bottle properly after lifting.",
+    "Lift the smooth bottle with rounded edges with the right arm and shake it.",
+    "Lift the yellow plastic bottle with white top and shake it thoroughly.",
+    "Lift the plastic bottle and shake it gently.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Shake the plastic bottle after lifting it.",
+    "Pick the bottle with a smooth plastic body, shake it with the right arm.",
+    "Pick the bottle with a smooth plastic body and perform shaking motion.",
+    "Use the right arm to pick and shake the yellow container with rounded edges.",
+    "Shake the yellow plastic bottle with white top after grabbing it.",
+    "Pick the plastic bottle up using the right arm and shake it.",
+    "Use the right arm to lift and shake the yellow container with rounded edges.",
+    "Shake the yellow plastic bottle with white top after grabbing it.",
+    "Grab the yellow bottle with a green design using the right arm, then shake.",
+    "Grab the plastic bottle with the right arm and shake.",
+    "Hold the plastic bottle and shake it properly.",
+    "Take the bottle with white cap using the right arm and give it a shake.",
+    "Secure the bottle with green label, shake it, and place it down.",
+    "Lift the plastic bottle with the right arm and shake.",
+    "Grasp the rectangular bottle with cylindrical neck with the right arm and shake it.",
+    "Using the right arm, shake the yellow bottle with a green design and then place it back.",
+    "Use the right arm to lift and shake the bottle with a smooth plastic body.",
+    "Grab the rectangular bottle with cylindrical neck and give it a shake.",
+    "Grab the smooth bottle with rounded edges firmly, shake it, and put it down.",
+    "Secure the yellow bottle and perform a shake.",
+    "Shake the medium rectangular yellow bottle using the right arm after grabbing.",
+    "Grab the yellow plastic bottle with white top and shake it steadily.",
+    "Grip the bottle with green and white labels using the right arm and shake.",
+    "Use the right arm to grab the bottle with a smooth plastic body and shake properly.",
+    "Hold the yellow plastic bottle with white top, shake it briefly.",
+    "Grab and shake the smooth bottle with rounded edges using the right arm."
+  ],
+  "unseen": [
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and give it a shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004185.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004185.json
new file mode 100644
index 0000000000000000000000000000000000000000..570493e6275879829999e8043ef2fd359bdcb853
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004185.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the the milk-bottle shape design properly after lifting.",
+    "Shake the bottle with cute ghost drawing after grabbing it.",
+    "Grasp the hand-sized bottle with screw cap with the right arm and shake it.",
+    "Take the medium cylinder-shaped bottle using the right arm and give it a shake.",
+    "Grab the medium cylinder-shaped bottle and move it to shake.",
+    "Use the right arm to lift and shake the hand-sized bottle with screw cap.",
+    "Use the right arm to hold the medium cylinder-shaped bottle and shake it.",
+    "Shake the bottle shaped like small cylinder after lifting it.",
+    "Shake the medium-sized plastic bottle thoroughly after grabbing it.",
+    "Using the right arm, shake the gray bottle with slight shine and then place it back.",
+    "Pick up the gray bottle with slight shine and shake it well.",
+    "Catch the medium-sized plastic bottle and shake it instantly.",
+    "Shake the plastic bottle with ghost print after grabbing it.",
+    "Grab the gray bottle with slight shine and give it a shake.",
+    "With the right arm, pick the medium cylinder-shaped bottle and shake properly.",
+    "Hold the milk-bottle shape design and shake it properly.",
+    "Shake the hand-sized bottle with screw cap after grabbing it.",
+    "Grab the rounded body bottle made of plastic using the right arm, then shake.",
+    "Grab and shake the milk-bottle shape design using the right arm.",
+    "Grab the smooth surface bottle with gray shade with the right arm and shake.",
+    "Pick up the bottle shaped like small cylinder and shake it.",
+    "Lift up the smooth surface bottle with gray shade using the right arm, then shake.",
+    "Use the right arm to grab the rounded body bottle made of plastic and shake properly.",
+    "Grip the smooth surface bottle with gray shade using the right arm and shake.",
+    "Grab the smooth surface bottle with gray shade firmly, shake it, and put it down.",
+    "Utilize the right arm to hold the smooth surface bottle with gray shade and shake it.",
+    "Pick the hand-sized bottle with screw cap and perform shaking motion.",
+    "Lift the hand-sized bottle with screw cap with the right arm and give it a shake.",
+    "Hold the medium-sized plastic bottle with the right arm and shake lightly.",
+    "Shake the medium cylinder-shaped bottle firmly after grabbing.",
+    "Pick the smooth surface bottle with gray shade up with the right arm and shake.",
+    "Shake the rounded body bottle made of plastic using the right arm after grabbing.",
+    "Lift the medium-sized plastic bottle and shake it gently.",
+    "Use the right arm to pick and shake the light gray colored container bottle.",
+    "Lift the smooth cylindrical bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the bottle with cute ghost drawing.",
+    "Hold and shake the the bottle with cute ghost drawing carefully.",
+    "Lift the bottle shaped like small cylinder and shake it thoroughly.",
+    "Use the right arm to lift and shake the milk-bottle shape design.",
+    "Shake the medium cylinder-shaped bottle after holding it firmly.",
+    "Secure the medium cylinder-shaped bottle, shake it, and place it down.",
+    "Use the right arm to grab the medium-sized plastic bottle and shake it.",
+    "Pick the medium cylinder-shaped bottle up using the right arm and shake it.",
+    "Grab the smooth cylindrical bottle carefully and shake.",
+    "Grab the bottle shaped like small cylinder and shake it steadily.",
+    "Secure the gray bottle with slight shine and perform a shake.",
+    "Lift the smooth surface bottle with gray shade with the right arm and shake.",
+    "Pick the plastic bottle with ghost print, shake it with the right arm.",
+    "Hold the plastic bottle with ghost print, shake it briefly.",
+    "Hold the plastic bottle with ghost print steady, then shake it.",
+    "Shake the the smooth cylindrical bottle properly after lifting.",
+    "Shake the bottle shaped like small cylinder after grabbing it.",
+    "Grasp the smooth surface bottle with gray shade with the right arm and shake it.",
+    "Take the light gray colored container bottle using the right arm and give it a shake.",
+    "Grab the milk-bottle shape design and move it to shake.",
+    "Use the right arm to lift and shake the medium cylinder-shaped bottle.",
+    "Use the right arm to hold the bottle with cute ghost drawing and shake it.",
+    "Shake the milk-bottle shape design after lifting it.",
+    "Shake the medium-sized plastic bottle thoroughly after grabbing it.",
+    "Using the right arm, shake the bottle shaped like small cylinder and then place it back.",
+    "Pick up the medium-sized plastic bottle and shake it well.",
+    "Catch the gray bottle with slight shine and shake it instantly.",
+    "Shake the milk-bottle shape design after grabbing it.",
+    "Grab the smooth cylindrical bottle and give it a shake.",
+    "With the right arm, pick the bottle shaped like small cylinder and shake properly.",
+    "Hold the bottle with cute ghost drawing and shake it properly.",
+    "Shake the rounded body bottle made of plastic after grabbing it.",
+    "Grab the medium-sized plastic bottle using the right arm, then shake.",
+    "Grab and shake the gray bottle with slight shine using the right arm.",
+    "Grab the plastic bottle with ghost print with the right arm and shake.",
+    "Pick up the plastic bottle with ghost print and shake it.",
+    "Lift up the bottle shaped like small cylinder using the right arm, then shake.",
+    "Use the right arm to grab the milk-bottle shape design and shake properly.",
+    "Grip the bottle with cute ghost drawing using the right arm and shake.",
+    "Grab the bottle with cute ghost drawing firmly, shake it, and put it down.",
+    "Utilize the right arm to hold the hand-sized bottle with screw cap and shake it.",
+    "Pick the bottle shaped like small cylinder and perform shaking motion.",
+    "Lift the bottle with cute ghost drawing with the right arm and give it a shake.",
+    "Hold the medium-sized plastic bottle with the right arm and shake lightly.",
+    "Shake the medium-sized plastic bottle firmly after grabbing.",
+    "Pick the rounded body bottle made of plastic up with the right arm and shake.",
+    "Shake the milk-bottle shape design using the right arm after grabbing.",
+    "Lift the milk-bottle shape design and shake it gently.",
+    "Use the right arm to pick and shake the bottle with cute ghost drawing.",
+    "Lift the plastic bottle with ghost print with the right arm and shake it.",
+    "Use the right arm to lift and shake the plastic bottle with ghost print.",
+    "Hold and shake the the light gray colored container bottle carefully.",
+    "Lift the medium-sized plastic bottle and shake it thoroughly.",
+    "Use the right arm to lift and shake the hand-sized bottle with screw cap.",
+    "Shake the medium-sized plastic bottle after holding it firmly.",
+    "Secure the bottle with cute ghost drawing, shake it, and place it down.",
+    "Use the right arm to grab the plastic bottle with ghost print and shake it.",
+    "Pick the medium-sized plastic bottle up using the right arm and shake it.",
+    "Grab the milk-bottle shape design carefully and shake.",
+    "Grab the light gray colored container bottle and shake it steadily.",
+    "Secure the hand-sized bottle with screw cap and perform a shake.",
+    "Lift the hand-sized bottle with screw cap with the right arm and shake.",
+    "Pick the bottle shaped like small cylinder, shake it with the right arm.",
+    "Hold the bottle with cute ghost drawing, shake it briefly.",
+    "Hold the medium-sized plastic bottle steady, then shake it."
+  ],
+  "unseen": [
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Use the right arm to pick the light gray bottle.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Use the right arm to pick the light gray bottle.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Grab the light gray bottle and shake it.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Use the right arm to pick the light gray bottle.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Use the right arm to pick the light gray bottle.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Grab the light gray bottle and shake it.",
+    "Use the right arm to pick the light gray bottle.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Grab the light gray bottle and shake it.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Use the right arm to pick the light gray bottle.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Grab the light gray bottle and give it a shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004283.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004283.json
new file mode 100644
index 0000000000000000000000000000000000000000..42e71a3cbafce3c321fed6dcfb981a07c6c15a11
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004283.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the white bottle with blue accents firmly after grabbing.",
+    "Pick up the medium bottle for beverages and shake it.",
+    "Use the left arm to lift and shake the blue bottle.",
+    "Shake the white and blue bottle after lifting it.",
+    "Grab the medium-sized bottle firmly, shake it, and put it down.",
+    "Use the left arm to grab the cylindrical bottle and shake properly.",
+    "Hold the medium bottle for beverages steady, then shake it.",
+    "Shake the medium-sized bottle thoroughly after grabbing it.",
+    "Grab the cylindrical bottle and shake it steadily.",
+    "Lift the white bottle with blue accents and shake it thoroughly.",
+    "Grab and shake the cylindrical bottle using the left arm.",
+    "Secure the cylindrical bottle and perform a shake.",
+    "Lift the bottle for liquids with the left arm and shake.",
+    "Shake the the handheld bottle properly after lifting.",
+    "Grab the cylindrical bottle and move it to shake.",
+    "Lift the bottle for liquids and shake it gently.",
+    "Lift the handheld bottle with the left arm and shake it.",
+    "Hold the blue bottle with label with the left arm and shake lightly.",
+    "Use the left arm to pick and shake the blue bottle.",
+    "Take the white bottle with blue accents using the left arm and give it a shake.",
+    "Shake the medium-sized bottle after grabbing it.",
+    "Utilize the left arm to hold the medium-sized bottle and shake it.",
+    "Pick the handheld bottle up with the left arm and shake.",
+    "Grab the bottle for liquids using the left arm, then shake.",
+    "With the left arm, pick the smooth plastic bottle and shake properly.",
+    "Shake the bottle with blue cap using the left arm after grabbing.",
+    "Grip the white bottle with blue accents using the left arm and shake.",
+    "Pick up the white bottle with blue accents and shake it well.",
+    "Using the left arm, shake the cylindrical bottle and then place it back.",
+    "Secure the cylindrical bottle, shake it, and place it down.",
+    "Pick the blue bottle with label and perform shaking motion.",
+    "Shake the white and blue bottle after grabbing it.",
+    "Pick the medium bottle for beverages up using the left arm and shake it.",
+    "Hold the cylindrical bottle and shake it properly.",
+    "Hold the blue bottle with label, shake it briefly.",
+    "Lift the cylindrical bottle with the left arm and give it a shake.",
+    "Grab the handheld bottle with the left arm and shake.",
+    "Hold and shake the the handheld bottle carefully.",
+    "Shake the handheld bottle after grabbing it.",
+    "Grasp the cylindrical bottle with the left arm and shake it.",
+    "Grab the blue bottle with label carefully and shake.",
+    "Pick the smooth plastic bottle, shake it with the left arm.",
+    "Shake the white bottle with blue accents after holding it firmly.",
+    "Grab the white and blue bottle and give it a shake.",
+    "Use the left arm to lift and shake the blue bottle with label.",
+    "Use the left arm to grab the medium bottle for beverages and shake it.",
+    "Use the left arm to hold the white bottle with blue accents and shake it.",
+    "Use the left arm to lift and shake the bottle for liquids.",
+    "Lift up the white and blue bottle using the left arm, then shake.",
+    "Catch the cylindrical bottle and shake it instantly.",
+    "Shake the smooth plastic bottle firmly after grabbing.",
+    "Pick up the blue bottle and shake it.",
+    "Use the left arm to lift and shake the blue bottle with label.",
+    "Shake the smooth plastic bottle after lifting it.",
+    "Grab the cylindrical bottle firmly, shake it, and put it down.",
+    "Use the left arm to grab the blue bottle with label and shake properly.",
+    "Hold the smooth plastic bottle steady, then shake it.",
+    "Shake the medium bottle for beverages thoroughly after grabbing it.",
+    "Grab the white and blue bottle and shake it steadily.",
+    "Lift the bottle with blue cap and shake it thoroughly.",
+    "Grab and shake the blue bottle with label using the left arm.",
+    "Secure the medium-sized bottle and perform a shake.",
+    "Lift the white bottle with blue accents with the left arm and shake.",
+    "Shake the the white and blue bottle properly after lifting.",
+    "Grab the blue bottle and move it to shake.",
+    "Lift the smooth plastic bottle and shake it gently.",
+    "Lift the cylindrical bottle with the left arm and shake it.",
+    "Hold the white and blue bottle with the left arm and shake lightly.",
+    "Use the left arm to pick and shake the bottle with blue cap.",
+    "Take the medium bottle for beverages using the left arm and give it a shake.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Utilize the left arm to hold the handheld bottle and shake it.",
+    "Pick the handheld bottle up with the left arm and shake.",
+    "Grab the bottle with blue cap using the left arm, then shake.",
+    "With the left arm, pick the medium-sized bottle and shake properly.",
+    "Shake the blue bottle using the left arm after grabbing.",
+    "Grip the smooth plastic bottle using the left arm and shake.",
+    "Pick up the blue bottle and shake it well.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "Secure the blue bottle with label, shake it, and place it down.",
+    "Pick the blue bottle and perform shaking motion.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Pick the bottle with blue cap up using the left arm and shake it.",
+    "Hold the bottle for liquids and shake it properly.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Lift the handheld bottle with the left arm and give it a shake.",
+    "Grab the white and blue bottle with the left arm and shake.",
+    "Hold and shake the the handheld bottle carefully.",
+    "Shake the medium bottle for beverages after grabbing it.",
+    "Grasp the smooth plastic bottle with the left arm and shake it.",
+    "Grab the blue bottle with label carefully and shake.",
+    "Pick the medium bottle for beverages, shake it with the left arm.",
+    "Shake the blue bottle after holding it firmly.",
+    "Grab the medium bottle for beverages and give it a shake.",
+    "Use the left arm to lift and shake the smooth plastic bottle.",
+    "Use the left arm to grab the blue bottle and shake it.",
+    "Use the left arm to hold the bottle with blue cap and shake it.",
+    "Use the left arm to lift and shake the white and blue bottle.",
+    "Lift up the bottle with blue cap using the left arm, then shake.",
+    "Catch the blue bottle and shake it instantly."
+  ],
+  "unseen": [
+    "Shake the bottle with ridged neck after picking it with the left arm.",
+    "Pick up the bottle with curved neck design with the left arm and shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the left arm to pick the bottle with ridged neck.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with curved neck design and shake.",
+    "Pick and shake the the bottle with curved neck design with the left arm.",
+    "Shake the blue-capped plastic bottle after picking it with the left arm.",
+    "Pick up the blue-capped plastic bottle with the left arm and shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the left arm to pick the blue-capped plastic bottle.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with curved neck design and shake.",
+    "Pick and shake the the bottle with ridged neck with the left arm.",
+    "Shake the bottle with ridged neck after picking it with the left arm.",
+    "Pick up the blue-capped plastic bottle with the left arm and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the left arm to pick the bottle with ridged neck.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridged neck and shake.",
+    "Pick and shake the the bottle with curved neck design with the left arm.",
+    "Shake the blue-capped plastic bottle after picking it with the left arm.",
+    "Pick up the bottle with ridged neck with the left arm and shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the left arm to pick the blue-capped plastic bottle.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the blue-capped plastic bottle and shake.",
+    "Pick and shake the the bottle with curved neck design with the left arm.",
+    "Shake the bottle with curved neck design after picking it with the left arm.",
+    "Pick up the blue-capped plastic bottle with the left arm and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the left arm to pick the bottle with curved neck design.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridged neck and shake.",
+    "Pick and shake the the blue-capped plastic bottle with the left arm.",
+    "Shake the bottle with ridged neck after picking it with the left arm.",
+    "Pick up the bottle with ridged neck with the left arm and shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the left arm to pick the bottle with curved neck design.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Use the left arm to grab the blue-capped plastic bottle and shake.",
+    "Pick and shake the the blue-capped plastic bottle with the left arm.",
+    "Shake the blue-capped plastic bottle after picking it with the left arm.",
+    "Pick up the blue-capped plastic bottle with the left arm and shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the left arm to pick the bottle with curved neck design.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with curved neck design and shake.",
+    "Pick and shake the the bottle with curved neck design with the left arm.",
+    "Shake the bottle with curved neck design after picking it with the left arm.",
+    "Pick up the blue-capped plastic bottle with the left arm and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the left arm to pick the bottle with ridged neck.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with curved neck design and shake.",
+    "Pick and shake the the blue-capped plastic bottle with the left arm.",
+    "Shake the bottle with curved neck design after picking it with the left arm.",
+    "Pick up the blue-capped plastic bottle with the left arm and shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the left arm to pick the blue-capped plastic bottle.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridged neck and shake.",
+    "Pick and shake the the blue-capped plastic bottle with the left arm.",
+    "Shake the blue-capped plastic bottle after picking it with the left arm.",
+    "Pick up the bottle with ridged neck with the left arm and shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the left arm to pick the blue-capped plastic bottle.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with curved neck design and shake.",
+    "Pick and shake the the bottle with ridged neck with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004299.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004299.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a08ab771a709fecdbf7536b916f045291673dc
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004299.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the bottle for liquids after holding it firmly.",
+    "Use the left arm to lift and shake the cylindrical orange bottle with yellow top.",
+    "Pick the medium-sized orange bottle up with the left arm and shake.",
+    "Pick up the bottle with printed label and shake it well.",
+    "Shake the bottle with printed label using the left arm after grabbing.",
+    "Grab the medium-sized orange bottle and shake it steadily.",
+    "Hold the bottle with printed label steady, then shake it.",
+    "Shake the orange bottle after lifting it.",
+    "Grab the cylindrical orange bottle with yellow top carefully and shake.",
+    "Use the left arm to hold the orange cylindrical bottle and shake it.",
+    "Pick the bottle for liquids and perform shaking motion.",
+    "Lift the plastic bottle with the left arm and shake.",
+    "Grab the orange bottle with the left arm and shake.",
+    "Lift the plastic bottle with sealed yellow cap with the left arm and shake it.",
+    "Shake the medium-sized orange bottle after grabbing it.",
+    "Pick the bottle with narrow neck up using the left arm and shake it.",
+    "Shake the bottle with narrow neck thoroughly after grabbing it.",
+    "Use the left arm to pick and shake the bottle with narrow neck.",
+    "Shake the bottle with yellow cap after grabbing it.",
+    "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.",
+    "Use the left arm to grab the orange cylindrical bottle and shake properly.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Take the yellow-capped plastic bottle using the left arm and give it a shake.",
+    "Utilize the left arm to hold the cylindrical orange bottle with yellow top and shake it.",
+    "Catch the medium-sized orange bottle and shake it instantly.",
+    "Grasp the orange cylindrical bottle with the left arm and shake it.",
+    "Pick up the bottle with yellow cap and shake it.",
+    "Hold the bottle with yellow cap and shake it properly.",
+    "Lift the bottle with yellow cap and shake it thoroughly.",
+    "Lift up the orange bottle using the left arm, then shake.",
+    "Shake the bottle with narrow neck firmly after grabbing.",
+    "Grip the medium-sized orange bottle using the left arm and shake.",
+    "With the left arm, pick the bottle with yellow cap and shake properly.",
+    "Lift the yellow-capped plastic bottle and shake it gently.",
+    "Grab and shake the yellow-capped plastic bottle using the left arm.",
+    "Grab the bottle with printed label firmly, shake it, and put it down.",
+    "Grab the plastic bottle and give it a shake.",
+    "Lift the cylindrical orange bottle with yellow top with the left arm and give it a shake.",
+    "Use the left arm to lift and shake the yellow-capped plastic bottle.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Using the left arm, shake the orange bottle and then place it back.",
+    "Hold the plastic bottle with sealed yellow cap, shake it briefly.",
+    "Pick the plastic bottle, shake it with the left arm.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Grab the yellow-capped plastic bottle and move it to shake.",
+    "Hold the yellow-capped plastic bottle with the left arm and shake lightly.",
+    "Grab the orange cylindrical bottle using the left arm, then shake.",
+    "Secure the medium-sized orange bottle and perform a shake.",
+    "Use the left arm to grab the bottle with narrow neck and shake it.",
+    "Secure the plastic bottle with sealed yellow cap, shake it, and place it down.",
+    "Shake the medium-sized orange bottle after holding it firmly.",
+    "Use the left arm to lift and shake the medium-sized orange bottle.",
+    "Pick the bottle for liquids up with the left arm and shake.",
+    "Pick up the bottle for liquids and shake it well.",
+    "Shake the orange cylindrical bottle using the left arm after grabbing.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Hold the bottle for liquids steady, then shake it.",
+    "Shake the bottle with printed label after lifting it.",
+    "Grab the medium-sized orange bottle carefully and shake.",
+    "Use the left arm to hold the plastic bottle and shake it.",
+    "Pick the bottle with yellow cap and perform shaking motion.",
+    "Lift the medium-sized orange bottle with the left arm and shake.",
+    "Grab the smooth plastic bottle with the left arm and shake.",
+    "Lift the medium-sized orange bottle with the left arm and shake it.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Pick the plastic bottle with sealed yellow cap up using the left arm and shake it.",
+    "Shake the orange bottle thoroughly after grabbing it.",
+    "Use the left arm to pick and shake the plastic bottle with sealed yellow cap.",
+    "Shake the yellow-capped plastic bottle after grabbing it.",
+    "Use the left arm to lift and shake the bottle with narrow neck.",
+    "Use the left arm to grab the orange bottle and shake properly.",
+    "Hold and shake the the plastic bottle with sealed yellow cap carefully.",
+    "Take the bottle for liquids using the left arm and give it a shake.",
+    "Utilize the left arm to hold the bottle for liquids and shake it.",
+    "Catch the bottle with yellow cap and shake it instantly.",
+    "Grasp the bottle with printed label with the left arm and shake it.",
+    "Pick up the medium-sized orange bottle and shake it.",
+    "Hold the plastic bottle with sealed yellow cap and shake it properly.",
+    "Lift the cylindrical orange bottle with yellow top and shake it thoroughly.",
+    "Lift up the yellow-capped plastic bottle using the left arm, then shake.",
+    "Shake the bottle with narrow neck firmly after grabbing.",
+    "Grip the yellow-capped plastic bottle using the left arm and shake.",
+    "With the left arm, pick the medium-sized orange bottle and shake properly.",
+    "Lift the smooth plastic bottle and shake it gently.",
+    "Grab and shake the bottle with printed label using the left arm.",
+    "Grab the yellow-capped plastic bottle firmly, shake it, and put it down.",
+    "Grab the plastic bottle and give it a shake.",
+    "Lift the cylindrical orange bottle with yellow top with the left arm and give it a shake.",
+    "Use the left arm to lift and shake the orange bottle.",
+    "Shake the bottle with narrow neck after grabbing it.",
+    "Using the left arm, shake the smooth plastic bottle and then place it back.",
+    "Hold the bottle for liquids, shake it briefly.",
+    "Pick the bottle with narrow neck, shake it with the left arm.",
+    "Shake the the medium-sized orange bottle properly after lifting.",
+    "Grab the plastic bottle and move it to shake.",
+    "Hold the medium-sized orange bottle with the left arm and shake lightly.",
+    "Grab the bottle for liquids using the left arm, then shake.",
+    "Secure the smooth plastic bottle and perform a shake.",
+    "Use the left arm to grab the bottle with narrow neck and shake it.",
+    "Secure the bottle with printed label, shake it, and place it down."
+  ],
+  "unseen": [
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Grab the handheld orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Grab the handheld orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Grab the handheld orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Grab the handheld orange bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004307.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004307.json
new file mode 100644
index 0000000000000000000000000000000000000000..f27c3373997a6089b7c24ee086786b90026ba815
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004307.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to hold the brown bottle and shake it.",
+    "Lift the smooth plastic bottle with white cap and shake it gently.",
+    "Shake the the smooth brown bottle with green label properly after lifting.",
+    "Use the left arm to pick and shake the brown bottle.",
+    "Utilize the left arm to hold the bottle with green cap and shake it.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Shake the bottle with flat sides and logo thoroughly after grabbing it.",
+    "Pick up the brown bottle with rounded rectangular shape and shake it well.",
+    "Lift the bottle with green cap and shake it thoroughly.",
+    "Hold the rectangular brown body with white top and shake it properly.",
+    "Shake the smooth brown bottle with green label using the left arm after grabbing.",
+    "Lift the smooth brown bottle with green label with the left arm and shake it.",
+    "Secure the medium-sized brown plastic bottle and perform a shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Hold the brown bottle with rounded rectangular shape steady, then shake it.",
+    "Pick up the smooth brown bottle with green label and shake it.",
+    "Hold the brown bottle with the left arm and shake lightly.",
+    "Shake the dark brown bottle with a squared body after grabbing it.",
+    "Shake the brown bottle with rounded rectangular shape after lifting it.",
+    "Shake the smooth brown bottle with green label after grabbing it.",
+    "Grab the brown bottle and shake it steadily.",
+    "Lift the brown bottle with the left arm and give it a shake.",
+    "Use the left arm to lift and shake the brown bottle with rounded rectangular shape.",
+    "Grab the plastic bottle and move it to shake.",
+    "Pick the rectangular brown body with white top and perform shaking motion.",
+    "Grab the medium-sized brown plastic bottle firmly, shake it, and put it down.",
+    "Grip the medium-sized brown plastic bottle using the left arm and shake.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Grab the smooth brown bottle with green label with the left arm and shake.",
+    "Grab the bottle with green cap using the left arm, then shake.",
+    "Use the left arm to grab the smooth plastic bottle with white cap and shake properly.",
+    "With the left arm, pick the medium-sized brown plastic bottle and shake properly.",
+    "Grab and shake the rectangular brown body with white top using the left arm.",
+    "Shake the rectangular brown body with white top after grabbing it.",
+    "Use the left arm to grab the rectangular brown body with white top and shake it.",
+    "Lift the bottle with green cap with the left arm and shake.",
+    "Take the smooth plastic bottle with white cap using the left arm and give it a shake.",
+    "Grab the rectangular-shaped bottle with round cap carefully and shake.",
+    "Shake the brown bottle after holding it firmly.",
+    "Pick the rectangular brown body with white top up with the left arm and shake.",
+    "Using the left arm, shake the brown bottle and then place it back.",
+    "Pick the bottle with green cap up using the left arm and shake it.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Pick the smooth brown bottle with green label, shake it with the left arm.",
+    "Secure the medium-sized brown plastic bottle, shake it, and place it down.",
+    "Use the left arm to lift and shake the medium bottle with glossy surface.",
+    "Grasp the rectangular brown body with white top with the left arm and shake it.",
+    "Use the left arm to lift and shake the medium-sized brown plastic bottle.",
+    "Lift up the rectangular-shaped bottle with round cap using the left arm, then shake.",
+    "Use the left arm to hold the dark brown bottle with a squared body and shake it.",
+    "Lift the rectangular-shaped bottle with round cap and shake it gently.",
+    "Shake the the brown bottle with rounded rectangular shape properly after lifting.",
+    "Use the left arm to pick and shake the medium-sized brown plastic bottle.",
+    "Utilize the left arm to hold the rectangular-shaped bottle with round cap and shake it.",
+    "Hold the medium bottle with glossy surface, shake it briefly.",
+    "Shake the brown bottle thoroughly after grabbing it.",
+    "Pick up the rectangular-shaped bottle with round cap and shake it well.",
+    "Lift the medium-sized brown plastic bottle and shake it thoroughly.",
+    "Hold the smooth plastic bottle with white cap and shake it properly.",
+    "Shake the medium-sized brown plastic bottle using the left arm after grabbing.",
+    "Lift the brown bottle with rounded rectangular shape with the left arm and shake it.",
+    "Secure the medium-sized brown plastic bottle and perform a shake.",
+    "Grab the bottle with green cap and give it a shake.",
+    "Hold the medium-sized brown plastic bottle steady, then shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Hold the smooth brown bottle with green label with the left arm and shake lightly.",
+    "Shake the medium bottle with glossy surface after grabbing it.",
+    "Shake the plastic bottle after lifting it.",
+    "Shake the brown bottle after grabbing it.",
+    "Grab the bottle with flat sides and logo and shake it steadily.",
+    "Lift the plastic bottle with the left arm and give it a shake.",
+    "Use the left arm to lift and shake the medium bottle with glossy surface.",
+    "Grab the bottle with flat sides and logo and move it to shake.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Grab the smooth plastic bottle with white cap firmly, shake it, and put it down.",
+    "Grip the dark brown bottle with a squared body using the left arm and shake.",
+    "Catch the medium bottle with glossy surface and shake it instantly.",
+    "Grab the rectangular brown body with white top with the left arm and shake.",
+    "Grab the bottle with green cap using the left arm, then shake.",
+    "Use the left arm to grab the dark brown bottle with a squared body and shake properly.",
+    "With the left arm, pick the brown bottle with rounded rectangular shape and shake properly.",
+    "Grab and shake the plastic bottle using the left arm.",
+    "Shake the brown bottle with rounded rectangular shape after grabbing it.",
+    "Use the left arm to grab the plastic bottle and shake it.",
+    "Lift the brown bottle with the left arm and shake.",
+    "Take the medium bottle with glossy surface using the left arm and give it a shake.",
+    "Grab the brown bottle with rounded rectangular shape carefully and shake.",
+    "Shake the bottle with green cap after holding it firmly.",
+    "Pick the plastic bottle up with the left arm and shake.",
+    "Using the left arm, shake the smooth brown bottle with green label and then place it back.",
+    "Pick the brown bottle up using the left arm and shake it.",
+    "Hold and shake the the medium bottle with glossy surface carefully.",
+    "Shake the bottle with flat sides and logo firmly after grabbing.",
+    "Pick the brown bottle, shake it with the left arm.",
+    "Secure the brown bottle, shake it, and place it down.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Grasp the bottle with flat sides and logo with the left arm and shake it.",
+    "Use the left arm to lift and shake the medium-sized brown plastic bottle.",
+    "Lift up the smooth brown bottle with green label using the left arm, then shake."
+  ],
+  "unseen": [
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Shake the liquid container dark brown plastic after picking it with the left arm.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick up the bottle with green label and white lid with the left arm and shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Shake the liquid container dark brown plastic after picking it with the left arm.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick up the bottle with green label and white lid with the left arm and shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Pick up the bottle with green label and white lid with the left arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004343.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004343.json
new file mode 100644
index 0000000000000000000000000000000000000000..d13abac5192e188d5bb299fa1ac7990ecfaaa772
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004343.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the plastic bottle and shake it properly.",
+    "Secure the medium-size plastic bottle and perform a shake.",
+    "With the right arm, pick the medium-size plastic bottle and shake properly.",
+    "Use the right arm to lift and shake the red bottle with curved grooves.",
+    "Hold the handheld plastic bottle, shake it briefly.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "Shake the handheld plastic bottle using the right arm after grabbing.",
+    "Shake the handheld plastic bottle after lifting it.",
+    "Shake the plastic bottle with bright red color after grabbing it.",
+    "Utilize the right arm to hold the red bottle with screw cap and shake it.",
+    "Shake the plastic bottle with bright red color thoroughly after grabbing it.",
+    "Grasp the red bottle with screw cap with the right arm and shake it.",
+    "Use the right arm to grab the smooth red cylindrical bottle and shake properly.",
+    "Grab the yellow text bottle and shake it steadily.",
+    "Lift up the bottle with red cap using the right arm, then shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grab the plastic bottle carefully and shake.",
+    "Hold the red bottle with narrow neck with the right arm and shake lightly.",
+    "Using the right arm, shake the plastic bottle and then place it back.",
+    "Lift the plastic bottle with bright red color with the right arm and shake.",
+    "Pick the red bottle with narrow neck up with the right arm and shake.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Grab the plastic bottle with bright red color and give it a shake.",
+    "Shake the the handheld plastic bottle properly after lifting.",
+    "Use the right arm to pick and shake the yellow text bottle.",
+    "Lift the plastic bottle and shake it gently.",
+    "Pick up the yellow text bottle and shake it well.",
+    "Secure the red bottle, shake it, and place it down.",
+    "Grab the red bottle with white bottom text and move it to shake.",
+    "Pick the smooth red cylindrical bottle and perform shaking motion.",
+    "Pick up the handheld plastic bottle and shake it.",
+    "Grab the bottle with red cap using the right arm, then shake.",
+    "Lift the red bottle with narrow neck and shake it thoroughly.",
+    "Hold and shake the the red bottle with curved grooves carefully.",
+    "Use the right arm to lift and shake the red bottle with narrow neck.",
+    "Take the red bottle using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the smooth red cylindrical bottle.",
+    "Grab and shake the red bottle with curved grooves using the right arm.",
+    "Lift the plastic bottle with bright red color with the right arm and give it a shake.",
+    "Shake the medium-size plastic bottle after holding it firmly.",
+    "Shake the smooth red cylindrical bottle firmly after grabbing.",
+    "Use the right arm to grab the smooth red cylindrical bottle and shake it.",
+    "Pick the red bottle with white bottom text up using the right arm and shake it.",
+    "Pick the plastic bottle with bright red color, shake it with the right arm.",
+    "Grab the red bottle with curved grooves with the right arm and shake.",
+    "Grab the bottle with red cap firmly, shake it, and put it down.",
+    "Catch the medium-size plastic bottle and shake it instantly.",
+    "Use the right arm to hold the handheld plastic bottle and shake it.",
+    "Grip the red bottle with screw cap using the right arm and shake.",
+    "Shake the red bottle after grabbing it.",
+    "Hold the plastic bottle with bright red color and shake it properly.",
+    "Secure the red bottle and perform a shake.",
+    "With the right arm, pick the plastic bottle and shake properly.",
+    "Use the right arm to lift and shake the handheld plastic bottle.",
+    "Hold the plastic bottle with bright red color, shake it briefly.",
+    "Lift the red bottle with white bottom text with the right arm and shake it.",
+    "Shake the plastic bottle using the right arm after grabbing.",
+    "Shake the handheld plastic bottle after lifting it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Utilize the right arm to hold the yellow text bottle and shake it.",
+    "Shake the plastic bottle with bright red color thoroughly after grabbing it.",
+    "Grasp the bottle with red cap with the right arm and shake it.",
+    "Use the right arm to grab the red bottle and shake properly.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Lift up the red bottle with screw cap using the right arm, then shake.",
+    "Shake the medium-size plastic bottle after grabbing it.",
+    "Grab the handheld plastic bottle carefully and shake.",
+    "Hold the smooth red cylindrical bottle with the right arm and shake lightly.",
+    "Using the right arm, shake the medium-size plastic bottle and then place it back.",
+    "Lift the smooth red cylindrical bottle with the right arm and shake.",
+    "Pick the red bottle with narrow neck up with the right arm and shake.",
+    "Hold the plastic bottle with bright red color steady, then shake it.",
+    "Grab the red bottle with screw cap and give it a shake.",
+    "Shake the the smooth red cylindrical bottle properly after lifting.",
+    "Use the right arm to pick and shake the red bottle with white bottom text.",
+    "Lift the yellow text bottle and shake it gently.",
+    "Pick up the handheld plastic bottle and shake it well.",
+    "Secure the medium-size plastic bottle, shake it, and place it down.",
+    "Grab the medium-size plastic bottle and move it to shake.",
+    "Pick the red bottle and perform shaking motion.",
+    "Pick up the medium-size plastic bottle and shake it.",
+    "Grab the plastic bottle using the right arm, then shake.",
+    "Lift the red bottle with screw cap and shake it thoroughly.",
+    "Hold and shake the the yellow text bottle carefully.",
+    "Use the right arm to lift and shake the smooth red cylindrical bottle.",
+    "Take the red bottle with narrow neck using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the red bottle with curved grooves.",
+    "Grab and shake the red bottle with curved grooves using the right arm.",
+    "Lift the smooth red cylindrical bottle with the right arm and give it a shake.",
+    "Shake the red bottle with narrow neck after holding it firmly.",
+    "Shake the handheld plastic bottle firmly after grabbing.",
+    "Use the right arm to grab the red bottle with narrow neck and shake it.",
+    "Pick the red bottle with narrow neck up using the right arm and shake it.",
+    "Pick the yellow text bottle, shake it with the right arm.",
+    "Grab the medium-size plastic bottle with the right arm and shake.",
+    "Grab the handheld plastic bottle firmly, shake it, and put it down.",
+    "Catch the handheld plastic bottle and shake it instantly.",
+    "Use the right arm to hold the medium-size plastic bottle and shake it.",
+    "Grip the red bottle with white bottom text using the right arm and shake.",
+    "Shake the medium-size plastic bottle after grabbing it."
+  ],
+  "unseen": [
+    "Use the right arm to pick the shiny red bottle.",
+    "Grab the bottle with yellow Chinese characters and give it a shake.",
+    "Grab the bottle with white and yellow label and shake it.",
+    "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.",
+    "Pick up the shiny red bottle with the right arm and shake.",
+    "Pick up the shiny red bottle and shake it.",
+    "Use the right arm to grab the bottle with white and yellow label and shake.",
+    "Shake the bottle with yellow Chinese characters after picking it with the right arm.",
+    "Pick up the bottle with white and yellow label and shake it.",
+    "Pick and shake the the bottle with yellow Chinese characters with the right arm.",
+    "Use the right arm to pick the bottle with yellow Chinese characters.",
+    "Grab the bottle with white and yellow label and give it a shake.",
+    "Grab the bottle with yellow Chinese characters and shake it.",
+    "Grab the shiny red bottle, shake it properly, then set it down.",
+    "Pick up the bottle with yellow Chinese characters with the right arm and shake.",
+    "Pick up the bottle with yellow Chinese characters and shake it.",
+    "Use the right arm to grab the shiny red bottle and shake.",
+    "Shake the bottle with yellow Chinese characters after picking it with the right arm.",
+    "Pick up the bottle with yellow Chinese characters and shake it.",
+    "Pick and shake the the bottle with yellow Chinese characters with the right arm.",
+    "Use the right arm to pick the bottle with white and yellow label.",
+    "Grab the bottle with white and yellow label and give it a shake.",
+    "Grab the shiny red bottle and shake it.",
+    "Grab the shiny red bottle, shake it properly, then set it down.",
+    "Pick up the bottle with yellow Chinese characters with the right arm and shake.",
+    "Pick up the bottle with yellow Chinese characters and shake it.",
+    "Use the right arm to grab the shiny red bottle and shake.",
+    "Shake the bottle with white and yellow label after picking it with the right arm.",
+    "Pick up the bottle with yellow Chinese characters and shake it.",
+    "Pick and shake the the bottle with yellow Chinese characters with the right arm.",
+    "Use the right arm to pick the bottle with white and yellow label.",
+    "Grab the bottle with yellow Chinese characters and give it a shake.",
+    "Grab the bottle with yellow Chinese characters and shake it.",
+    "Grab the shiny red bottle, shake it properly, then set it down.",
+    "Pick up the shiny red bottle with the right arm and shake.",
+    "Pick up the shiny red bottle and shake it.",
+    "Use the right arm to grab the bottle with white and yellow label and shake.",
+    "Shake the shiny red bottle after picking it with the right arm.",
+    "Pick up the bottle with yellow Chinese characters and shake it.",
+    "Pick and shake the the bottle with white and yellow label with the right arm.",
+    "Use the right arm to pick the bottle with white and yellow label.",
+    "Grab the shiny red bottle and give it a shake.",
+    "Grab the bottle with white and yellow label and shake it.",
+    "Grab the bottle with white and yellow label, shake it properly, then set it down.",
+    "Pick up the bottle with yellow Chinese characters with the right arm and shake.",
+    "Pick up the bottle with yellow Chinese characters and shake it.",
+    "Use the right arm to grab the bottle with white and yellow label and shake.",
+    "Shake the bottle with white and yellow label after picking it with the right arm.",
+    "Pick up the bottle with yellow Chinese characters and shake it.",
+    "Pick and shake the the shiny red bottle with the right arm.",
+    "Use the right arm to pick the bottle with white and yellow label.",
+    "Grab the shiny red bottle and give it a shake.",
+    "Grab the shiny red bottle and shake it.",
+    "Grab the bottle with white and yellow label, shake it properly, then set it down.",
+    "Pick up the bottle with yellow Chinese characters with the right arm and shake.",
+    "Pick up the bottle with yellow Chinese characters and shake it.",
+    "Use the right arm to grab the bottle with white and yellow label and shake.",
+    "Shake the shiny red bottle after picking it with the right arm.",
+    "Pick up the bottle with yellow Chinese characters and shake it.",
+    "Pick and shake the the shiny red bottle with the right arm.",
+    "Use the right arm to pick the bottle with white and yellow label.",
+    "Grab the shiny red bottle and give it a shake.",
+    "Grab the bottle with yellow Chinese characters and shake it.",
+    "Grab the bottle with yellow Chinese characters, shake it properly, then set it down.",
+    "Pick up the bottle with yellow Chinese characters with the right arm and shake.",
+    "Pick up the shiny red bottle and shake it.",
+    "Use the right arm to grab the shiny red bottle and shake.",
+    "Shake the bottle with yellow Chinese characters after picking it with the right arm.",
+    "Pick up the bottle with white and yellow label and shake it.",
+    "Pick and shake the the bottle with yellow Chinese characters with the right arm.",
+    "Use the right arm to pick the shiny red bottle.",
+    "Grab the bottle with white and yellow label and give it a shake.",
+    "Grab the shiny red bottle and shake it.",
+    "Grab the bottle with white and yellow label, shake it properly, then set it down.",
+    "Pick up the bottle with yellow Chinese characters with the right arm and shake.",
+    "Pick up the shiny red bottle and shake it.",
+    "Use the right arm to grab the bottle with white and yellow label and shake.",
+    "Shake the bottle with yellow Chinese characters after picking it with the right arm.",
+    "Pick up the bottle with white and yellow label and shake it.",
+    "Pick and shake the the bottle with white and yellow label with the right arm.",
+    "Use the right arm to pick the bottle with yellow Chinese characters.",
+    "Grab the shiny red bottle and give it a shake.",
+    "Grab the shiny red bottle and shake it.",
+    "Grab the bottle with white and yellow label, shake it properly, then set it down.",
+    "Pick up the bottle with yellow Chinese characters with the right arm and shake.",
+    "Pick up the bottle with white and yellow label and shake it.",
+    "Use the right arm to grab the shiny red bottle and shake.",
+    "Shake the bottle with white and yellow label after picking it with the right arm.",
+    "Pick up the shiny red bottle and shake it.",
+    "Pick and shake the the bottle with white and yellow label with the right arm.",
+    "Use the right arm to pick the shiny red bottle.",
+    "Grab the bottle with white and yellow label and give it a shake.",
+    "Grab the shiny red bottle and shake it.",
+    "Grab the shiny red bottle, shake it properly, then set it down.",
+    "Pick up the bottle with yellow Chinese characters with the right arm and shake.",
+    "Pick up the shiny red bottle and shake it.",
+    "Use the right arm to grab the bottle with yellow Chinese characters and shake.",
+    "Shake the bottle with white and yellow label after picking it with the right arm.",
+    "Pick up the shiny red bottle and shake it.",
+    "Pick and shake the the bottle with white and yellow label with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005060.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005060.json
new file mode 100644
index 0000000000000000000000000000000000000000..6260b2d1cbc477eef6fec8f734fe890bb1628307
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005060.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the dark brown bottle with a squared body after grabbing it.",
+    "Grab the rectangular brown body with white top and move it to shake.",
+    "Grab the bottle with flat sides and logo carefully and shake.",
+    "Grab the brown bottle firmly, shake it, and put it down.",
+    "Shake the brown bottle with rounded rectangular shape after grabbing it.",
+    "Shake the bottle with flat sides and logo after holding it firmly.",
+    "Shake the medium bottle with glossy surface after lifting it.",
+    "Pick up the brown bottle with rounded rectangular shape and shake it.",
+    "Use the left arm to lift and shake the smooth brown bottle with green label.",
+    "Grip the smooth plastic bottle with white cap using the left arm and shake.",
+    "Use the left arm to hold the rectangular brown body with white top and shake it.",
+    "Hold and shake the the brown bottle with rounded rectangular shape carefully.",
+    "Hold the rectangular-shaped bottle with round cap, shake it briefly.",
+    "Hold the brown bottle with rounded rectangular shape with the left arm and shake lightly.",
+    "Shake the medium bottle with glossy surface using the left arm after grabbing.",
+    "Grab the medium-sized brown plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the rectangular brown body with white top and shake it.",
+    "Shake the smooth brown bottle with green label thoroughly after grabbing it.",
+    "Lift up the smooth plastic bottle with white cap using the left arm, then shake.",
+    "Pick the smooth brown bottle with green label up using the left arm and shake it.",
+    "Lift the medium bottle with glossy surface with the left arm and give it a shake.",
+    "Lift the rectangular brown body with white top and shake it gently.",
+    "Grasp the bottle with flat sides and logo with the left arm and shake it.",
+    "With the left arm, pick the brown bottle and shake properly.",
+    "Grab the dark brown bottle with a squared body and give it a shake.",
+    "Hold the brown bottle with rounded rectangular shape steady, then shake it.",
+    "Use the left arm to pick and shake the rectangular brown body with white top.",
+    "Secure the smooth plastic bottle with white cap and perform a shake.",
+    "Lift the smooth brown bottle with green label with the left arm and shake.",
+    "Secure the medium-sized brown plastic bottle, shake it, and place it down.",
+    "Shake the rectangular brown body with white top firmly after grabbing.",
+    "Pick the bottle with green cap up with the left arm and shake.",
+    "Shake the bottle with green cap after grabbing it.",
+    "Shake the the medium-sized brown plastic bottle properly after lifting.",
+    "Catch the medium bottle with glossy surface and shake it instantly.",
+    "Grab and shake the brown bottle using the left arm.",
+    "Grab the plastic bottle using the left arm, then shake.",
+    "Lift the brown bottle and shake it thoroughly.",
+    "Use the left arm to lift and shake the smooth brown bottle with green label.",
+    "Using the left arm, shake the bottle with green cap and then place it back.",
+    "Utilize the left arm to hold the smooth plastic bottle with white cap and shake it.",
+    "Pick up the rectangular-shaped bottle with round cap and shake it well.",
+    "Lift the rectangular-shaped bottle with round cap with the left arm and shake it.",
+    "Take the brown bottle using the left arm and give it a shake.",
+    "Pick the bottle with flat sides and logo and perform shaking motion.",
+    "Use the left arm to lift and shake the bottle with green cap.",
+    "Use the left arm to grab the smooth plastic bottle with white cap and shake properly.",
+    "Grab the smooth plastic bottle with white cap and shake it steadily.",
+    "Hold the medium-sized brown plastic bottle and shake it properly.",
+    "Pick the smooth brown bottle with green label, shake it with the left arm.",
+    "Shake the rectangular-shaped bottle with round cap after grabbing it.",
+    "Grab the smooth plastic bottle with white cap and move it to shake.",
+    "Grab the dark brown bottle with a squared body carefully and shake.",
+    "Grab the medium-sized brown plastic bottle firmly, shake it, and put it down.",
+    "Shake the brown bottle after grabbing it.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Shake the smooth plastic bottle with white cap after lifting it.",
+    "Pick up the dark brown bottle with a squared body and shake it.",
+    "Use the left arm to lift and shake the bottle with flat sides and logo.",
+    "Grip the brown bottle with rounded rectangular shape using the left arm and shake.",
+    "Use the left arm to hold the medium-sized brown plastic bottle and shake it.",
+    "Hold and shake the the bottle with green cap carefully.",
+    "Hold the medium-sized brown plastic bottle, shake it briefly.",
+    "Hold the smooth plastic bottle with white cap with the left arm and shake lightly.",
+    "Shake the bottle with green cap using the left arm after grabbing.",
+    "Grab the dark brown bottle with a squared body with the left arm and shake.",
+    "Use the left arm to grab the rectangular brown body with white top and shake it.",
+    "Shake the medium-sized brown plastic bottle thoroughly after grabbing it.",
+    "Lift up the rectangular brown body with white top using the left arm, then shake.",
+    "Pick the rectangular-shaped bottle with round cap up using the left arm and shake it.",
+    "Lift the smooth plastic bottle with white cap with the left arm and give it a shake.",
+    "Lift the brown bottle with rounded rectangular shape and shake it gently.",
+    "Grasp the brown bottle with the left arm and shake it.",
+    "With the left arm, pick the medium-sized brown plastic bottle and shake properly.",
+    "Grab the plastic bottle and give it a shake.",
+    "Hold the brown bottle with rounded rectangular shape steady, then shake it.",
+    "Use the left arm to pick and shake the bottle with flat sides and logo.",
+    "Secure the smooth brown bottle with green label and perform a shake.",
+    "Lift the rectangular brown body with white top with the left arm and shake.",
+    "Secure the brown bottle, shake it, and place it down.",
+    "Shake the smooth brown bottle with green label firmly after grabbing.",
+    "Pick the brown bottle with rounded rectangular shape up with the left arm and shake.",
+    "Shake the dark brown bottle with a squared body after grabbing it.",
+    "Shake the the bottle with green cap properly after lifting.",
+    "Catch the smooth brown bottle with green label and shake it instantly.",
+    "Grab and shake the dark brown bottle with a squared body using the left arm.",
+    "Grab the brown bottle with rounded rectangular shape using the left arm, then shake.",
+    "Lift the brown bottle and shake it thoroughly.",
+    "Use the left arm to lift and shake the medium bottle with glossy surface.",
+    "Using the left arm, shake the smooth plastic bottle with white cap and then place it back.",
+    "Utilize the left arm to hold the bottle with green cap and shake it.",
+    "Pick up the smooth plastic bottle with white cap and shake it well.",
+    "Lift the bottle with green cap with the left arm and shake it.",
+    "Take the plastic bottle using the left arm and give it a shake.",
+    "Pick the rectangular-shaped bottle with round cap and perform shaking motion.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Use the left arm to grab the bottle with flat sides and logo and shake properly.",
+    "Grab the smooth plastic bottle with white cap and shake it steadily.",
+    "Hold the smooth brown bottle with green label and shake it properly.",
+    "Pick the brown bottle, shake it with the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Shake the liquid container dark brown plastic after picking it with the left arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Shake the liquid container dark brown plastic after picking it with the left arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Shake the liquid container dark brown plastic after picking it with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick up the bottle with green label and white lid with the left arm and shake.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Shake the liquid container dark brown plastic after picking it with the left arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick up the bottle with green label and white lid with the left arm and shake.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005093.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005093.json
new file mode 100644
index 0000000000000000000000000000000000000000..70df3af0a218256921963d1bdd3b2698c3f380e3
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005093.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the plastic bottle and perform a shake.",
+    "Pick the smooth plastic bottle up with the left arm and shake.",
+    "Pick the smooth plastic bottle and perform shaking motion.",
+    "Shake the bottle with narrow neck after grabbing it.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Use the left arm to lift and shake the yellow-capped plastic bottle.",
+    "Shake the plastic bottle with sealed yellow cap after grabbing it.",
+    "Shake the bottle with yellow cap after lifting it.",
+    "Lift up the orange cylindrical bottle using the left arm, then shake.",
+    "Pick the bottle with printed label up using the left arm and shake it.",
+    "Hold and shake the the bottle for liquids carefully.",
+    "Take the yellow-capped plastic bottle using the left arm and give it a shake.",
+    "Pick up the plastic bottle with sealed yellow cap and shake it.",
+    "Shake the bottle with yellow cap after holding it firmly.",
+    "Hold the orange bottle, shake it briefly.",
+    "Pick the yellow-capped plastic bottle, shake it with the left arm.",
+    "Hold the medium-sized orange bottle and shake it properly.",
+    "Grab the smooth plastic bottle using the left arm, then shake.",
+    "Grab the plastic bottle with sealed yellow cap carefully and shake.",
+    "Pick up the yellow-capped plastic bottle and shake it well.",
+    "Lift the bottle with printed label and shake it gently.",
+    "With the left arm, pick the orange bottle and shake properly.",
+    "Grab the smooth plastic bottle and shake it steadily.",
+    "Grab the smooth plastic bottle and move it to shake.",
+    "Grab the medium-sized orange bottle firmly, shake it, and put it down.",
+    "Secure the bottle for liquids, shake it, and place it down.",
+    "Lift the yellow-capped plastic bottle and shake it thoroughly.",
+    "Using the left arm, shake the orange bottle and then place it back.",
+    "Shake the bottle with narrow neck after grabbing it.",
+    "Shake the the bottle with printed label properly after lifting.",
+    "Shake the yellow-capped plastic bottle firmly after grabbing.",
+    "Lift the cylindrical orange bottle with yellow top with the left arm and shake it.",
+    "Grab the orange bottle and give it a shake.",
+    "Lift the orange bottle with the left arm and give it a shake.",
+    "Use the left arm to lift and shake the smooth plastic bottle.",
+    "Use the left arm to hold the medium-sized orange bottle and shake it.",
+    "Grab the bottle with printed label with the left arm and shake.",
+    "Use the left arm to grab the orange bottle and shake it.",
+    "Shake the yellow-capped plastic bottle thoroughly after grabbing it.",
+    "Shake the medium-sized orange bottle using the left arm after grabbing.",
+    "Catch the yellow-capped plastic bottle and shake it instantly.",
+    "Utilize the left arm to hold the cylindrical orange bottle with yellow top and shake it.",
+    "Use the left arm to pick and shake the bottle for liquids.",
+    "Grip the bottle with yellow cap using the left arm and shake.",
+    "Grasp the cylindrical orange bottle with yellow top with the left arm and shake it.",
+    "Lift the plastic bottle with the left arm and shake.",
+    "Hold the smooth plastic bottle steady, then shake it.",
+    "Use the left arm to grab the orange cylindrical bottle and shake properly.",
+    "Grab and shake the orange cylindrical bottle using the left arm.",
+    "Hold the plastic bottle with sealed yellow cap with the left arm and shake lightly.",
+    "Secure the orange bottle and perform a shake.",
+    "Pick the orange cylindrical bottle up with the left arm and shake.",
+    "Pick the cylindrical orange bottle with yellow top and perform shaking motion.",
+    "Shake the orange bottle after grabbing it.",
+    "Use the left arm to lift and shake the bottle with yellow cap.",
+    "Use the left arm to lift and shake the medium-sized orange bottle.",
+    "Shake the yellow-capped plastic bottle after grabbing it.",
+    "Shake the bottle for liquids after lifting it.",
+    "Lift up the bottle with yellow cap using the left arm, then shake.",
+    "Pick the plastic bottle up using the left arm and shake it.",
+    "Hold and shake the the bottle for liquids carefully.",
+    "Take the plastic bottle using the left arm and give it a shake.",
+    "Pick up the plastic bottle and shake it.",
+    "Shake the bottle with narrow neck after holding it firmly.",
+    "Hold the orange bottle, shake it briefly.",
+    "Pick the bottle with yellow cap, shake it with the left arm.",
+    "Hold the cylindrical orange bottle with yellow top and shake it properly.",
+    "Grab the plastic bottle with sealed yellow cap using the left arm, then shake.",
+    "Grab the bottle with yellow cap carefully and shake.",
+    "Pick up the bottle for liquids and shake it well.",
+    "Lift the plastic bottle and shake it gently.",
+    "With the left arm, pick the bottle with yellow cap and shake properly.",
+    "Grab the smooth plastic bottle and shake it steadily.",
+    "Grab the medium-sized orange bottle and move it to shake.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Secure the yellow-capped plastic bottle, shake it, and place it down.",
+    "Lift the plastic bottle with sealed yellow cap and shake it thoroughly.",
+    "Using the left arm, shake the orange bottle and then place it back.",
+    "Shake the cylindrical orange bottle with yellow top after grabbing it.",
+    "Shake the the medium-sized orange bottle properly after lifting.",
+    "Shake the yellow-capped plastic bottle firmly after grabbing.",
+    "Lift the orange bottle with the left arm and shake it.",
+    "Grab the yellow-capped plastic bottle and give it a shake.",
+    "Lift the bottle with yellow cap with the left arm and give it a shake.",
+    "Use the left arm to lift and shake the yellow-capped plastic bottle.",
+    "Use the left arm to hold the bottle with printed label and shake it.",
+    "Grab the yellow-capped plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the medium-sized orange bottle and shake it.",
+    "Shake the bottle with printed label thoroughly after grabbing it.",
+    "Shake the orange bottle using the left arm after grabbing.",
+    "Catch the orange cylindrical bottle and shake it instantly.",
+    "Utilize the left arm to hold the bottle with printed label and shake it.",
+    "Use the left arm to pick and shake the bottle with narrow neck.",
+    "Grip the bottle with yellow cap using the left arm and shake.",
+    "Grasp the orange bottle with the left arm and shake it.",
+    "Lift the medium-sized orange bottle with the left arm and shake.",
+    "Hold the yellow-capped plastic bottle steady, then shake it.",
+    "Use the left arm to grab the bottle with printed label and shake properly.",
+    "Grab and shake the bottle with printed label using the left arm.",
+    "Hold the orange bottle with the left arm and shake lightly."
+  ],
+  "unseen": [
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005119.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005119.json
new file mode 100644
index 0000000000000000000000000000000000000000..758af79f6764b028f00ef1dbe82bbd877fc7dbed
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005119.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the rectangular-shaped bottle with round cap using the right arm, then shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Hold the medium bottle with glossy surface steady, then shake it.",
+    "Secure the rectangular brown body with white top and perform a shake.",
+    "Hold and shake the the dark brown bottle with a squared body carefully.",
+    "Shake the medium bottle with glossy surface after grabbing it.",
+    "Lift the smooth brown bottle with green label with the right arm and shake.",
+    "Grip the dark brown bottle with a squared body using the right arm and shake.",
+    "Lift the rectangular brown body with white top with the right arm and give it a shake.",
+    "Lift the medium-sized brown plastic bottle and shake it thoroughly.",
+    "Shake the brown bottle using the right arm after grabbing.",
+    "Pick the smooth brown bottle with green label, shake it with the right arm.",
+    "Grab the dark brown bottle with a squared body with the right arm and shake.",
+    "Using the right arm, shake the brown bottle with rounded rectangular shape and then place it back.",
+    "Catch the dark brown bottle with a squared body and shake it instantly.",
+    "Grab the brown bottle with rounded rectangular shape firmly, shake it, and put it down.",
+    "Grab the medium bottle with glossy surface and shake it steadily.",
+    "Shake the brown bottle thoroughly after grabbing it.",
+    "With the right arm, pick the bottle with green cap and shake properly.",
+    "Grab the brown bottle with rounded rectangular shape and give it a shake.",
+    "Pick the rectangular-shaped bottle with round cap up using the right arm and shake it.",
+    "Shake the smooth brown bottle with green label firmly after grabbing.",
+    "Utilize the right arm to hold the dark brown bottle with a squared body and shake it.",
+    "Pick up the brown bottle with rounded rectangular shape and shake it.",
+    "Hold the smooth brown bottle with green label with the right arm and shake lightly.",
+    "Lift up the dark brown bottle with a squared body using the right arm, then shake.",
+    "Shake the rectangular brown body with white top after grabbing it.",
+    "Use the right arm to lift and shake the bottle with green cap.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "Use the right arm to hold the bottle with green cap and shake it.",
+    "Use the right arm to pick and shake the smooth brown bottle with green label.",
+    "Lift the medium-sized brown plastic bottle and shake it gently.",
+    "Use the right arm to lift and shake the medium-sized brown plastic bottle.",
+    "Use the right arm to grab the bottle with flat sides and logo and shake properly.",
+    "Grasp the medium-sized brown plastic bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the dark brown bottle with a squared body.",
+    "Shake the plastic bottle after lifting it.",
+    "Pick the medium-sized brown plastic bottle up with the right arm and shake.",
+    "Take the brown bottle using the right arm and give it a shake.",
+    "Secure the brown bottle, shake it, and place it down.",
+    "Pick the smooth brown bottle with green label and perform shaking motion.",
+    "Pick up the medium-sized brown plastic bottle and shake it well.",
+    "Shake the the bottle with green cap properly after lifting.",
+    "Grab the brown bottle carefully and shake.",
+    "Grab and shake the brown bottle using the right arm.",
+    "Hold the dark brown bottle with a squared body, shake it briefly.",
+    "Grab the smooth plastic bottle with white cap and move it to shake.",
+    "Hold the smooth brown bottle with green label and shake it properly.",
+    "Shake the bottle with green cap after holding it firmly.",
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Grab the smooth plastic bottle with white cap using the right arm, then shake.",
+    "Shake the rectangular brown body with white top after grabbing it.",
+    "Hold the brown bottle steady, then shake it.",
+    "Secure the medium-sized brown plastic bottle and perform a shake.",
+    "Hold and shake the the rectangular brown body with white top carefully.",
+    "Shake the medium bottle with glossy surface after grabbing it.",
+    "Lift the brown bottle with rounded rectangular shape with the right arm and shake.",
+    "Grip the plastic bottle using the right arm and shake.",
+    "Lift the smooth plastic bottle with white cap with the right arm and give it a shake.",
+    "Lift the medium-sized brown plastic bottle and shake it thoroughly.",
+    "Shake the bottle with flat sides and logo using the right arm after grabbing.",
+    "Pick the dark brown bottle with a squared body, shake it with the right arm.",
+    "Grab the plastic bottle with the right arm and shake.",
+    "Using the right arm, shake the medium-sized brown plastic bottle and then place it back.",
+    "Catch the medium bottle with glossy surface and shake it instantly.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Grab the bottle with green cap and shake it steadily.",
+    "Shake the rectangular-shaped bottle with round cap thoroughly after grabbing it.",
+    "With the right arm, pick the brown bottle and shake properly.",
+    "Grab the medium-sized brown plastic bottle and give it a shake.",
+    "Pick the rectangular brown body with white top up using the right arm and shake it.",
+    "Shake the bottle with green cap firmly after grabbing.",
+    "Utilize the right arm to hold the rectangular-shaped bottle with round cap and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Hold the brown bottle with rounded rectangular shape with the right arm and shake lightly.",
+    "Lift up the bottle with green cap using the right arm, then shake.",
+    "Shake the bottle with flat sides and logo after grabbing it.",
+    "Use the right arm to lift and shake the dark brown bottle with a squared body.",
+    "Lift the dark brown bottle with a squared body with the right arm and shake it.",
+    "Use the right arm to hold the bottle with flat sides and logo and shake it.",
+    "Use the right arm to pick and shake the rectangular brown body with white top.",
+    "Lift the rectangular brown body with white top and shake it gently.",
+    "Use the right arm to lift and shake the rectangular brown body with white top.",
+    "Use the right arm to grab the smooth brown bottle with green label and shake properly.",
+    "Grasp the rectangular-shaped bottle with round cap with the right arm and shake it.",
+    "Use the right arm to lift and shake the bottle with green cap.",
+    "Shake the rectangular brown body with white top after lifting it.",
+    "Pick the smooth brown bottle with green label up with the right arm and shake.",
+    "Take the brown bottle with rounded rectangular shape using the right arm and give it a shake.",
+    "Secure the dark brown bottle with a squared body, shake it, and place it down.",
+    "Pick the medium-sized brown plastic bottle and perform shaking motion.",
+    "Pick up the plastic bottle and shake it well.",
+    "Shake the the rectangular brown body with white top properly after lifting.",
+    "Grab the bottle with green cap carefully and shake.",
+    "Grab and shake the brown bottle with rounded rectangular shape using the right arm.",
+    "Hold the smooth plastic bottle with white cap, shake it briefly.",
+    "Grab the medium bottle with glossy surface and move it to shake.",
+    "Hold the medium-sized brown plastic bottle and shake it properly.",
+    "Shake the smooth plastic bottle with white cap after holding it firmly.",
+    "Use the right arm to grab the medium bottle with glossy surface and shake it."
+  ],
+  "unseen": [
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "Shake the bottle with green label and white lid after picking it with the right arm.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the bottle with green label and white lid and give it a shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005123.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005123.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3fabf5a274ffa299676995459348e47697cdd62
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005123.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the ridged orange bottle with grooves steady, then shake it.",
+    "Shake the grooved orange drink bottle thoroughly after grabbing it.",
+    "Using the left arm, shake the cylindrical orange plastic bottle and then place it back.",
+    "Utilize the left arm to hold the medium bottle with colorful label and shake it.",
+    "Shake the bottle for holding drinks after holding it firmly.",
+    "Grab the orange bottle and move it to shake.",
+    "Lift the curved orange soda bottle and shake it gently.",
+    "Grab and shake the bottle for holding drinks using the left arm.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Shake the medium bottle with colorful label firmly after grabbing.",
+    "Pick the orange bottle and perform shaking motion.",
+    "Grab the medium bottle with colorful label using the left arm, then shake.",
+    "Pick up the plastic bottle and shake it.",
+    "Lift the cylindrical orange plastic bottle with the left arm and shake it.",
+    "Pick the cylindrical orange plastic bottle up with the left arm and shake.",
+    "Use the left arm to grab the grooved orange drink bottle and shake it.",
+    "Secure the light and medium-sized bottle and perform a shake.",
+    "Shake the bottle for holding drinks after grabbing it.",
+    "Shake the round-bottom bottle with white cap after grabbing it.",
+    "Pick up the round-bottom bottle with white cap and shake it well.",
+    "Use the left arm to lift and shake the medium bottle with colorful label.",
+    "Grip the cylindrical orange plastic bottle using the left arm and shake.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Hold and shake the the cylindrical orange plastic bottle carefully.",
+    "Shake the the light and medium-sized bottle properly after lifting.",
+    "With the left arm, pick the orange bottle and shake properly.",
+    "Pick the orange drink bottle with label, shake it with the left arm.",
+    "Grab the medium bottle with colorful label and give it a shake.",
+    "Shake the orange bottle using the left arm after grabbing.",
+    "Grab the orange drink bottle with label and shake it steadily.",
+    "Take the round-bottom bottle with white cap using the left arm and give it a shake.",
+    "Shake the orange drink bottle with label after grabbing it.",
+    "Grab the cylindrical orange plastic bottle with the left arm and shake.",
+    "Grab the cylindrical orange plastic bottle carefully and shake.",
+    "Use the left arm to grab the smooth orange bottle and shake properly.",
+    "Catch the ridged orange bottle with grooves and shake it instantly.",
+    "Use the left arm to pick and shake the plastic bottle.",
+    "Use the left arm to hold the round-bottom bottle with white cap and shake it.",
+    "Use the left arm to lift and shake the bottle for holding drinks.",
+    "Hold the orange bottle with the left arm and shake lightly.",
+    "Lift up the grooved orange drink bottle using the left arm, then shake.",
+    "Lift the curved orange soda bottle with the left arm and give it a shake.",
+    "Grasp the smooth orange bottle with the left arm and shake it.",
+    "Shake the ridged orange bottle with grooves after lifting it.",
+    "Grab the round-bottom bottle with white cap firmly, shake it, and put it down.",
+    "Lift the medium bottle with colorful label and shake it thoroughly.",
+    "Pick the light and medium-sized bottle up using the left arm and shake it.",
+    "Hold the cylindrical orange plastic bottle and shake it properly.",
+    "Use the left arm to lift and shake the cylindrical orange plastic bottle.",
+    "Lift the cylindrical orange plastic bottle with the left arm and shake.",
+    "Hold the orange bottle steady, then shake it.",
+    "Shake the orange bottle thoroughly after grabbing it.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "Utilize the left arm to hold the grooved orange drink bottle and shake it.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Grab the orange drink bottle with label and move it to shake.",
+    "Lift the cylindrical orange plastic bottle and shake it gently.",
+    "Grab and shake the cylindrical orange plastic bottle using the left arm.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Shake the smooth orange bottle firmly after grabbing.",
+    "Pick the grooved orange drink bottle and perform shaking motion.",
+    "Grab the curved orange soda bottle using the left arm, then shake.",
+    "Pick up the curved orange soda bottle and shake it.",
+    "Lift the plastic bottle with the left arm and shake it.",
+    "Pick the orange bottle up with the left arm and shake.",
+    "Use the left arm to grab the curved orange soda bottle and shake it.",
+    "Secure the orange bottle and perform a shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Shake the round-bottom bottle with white cap after grabbing it.",
+    "Pick up the curved orange soda bottle and shake it well.",
+    "Use the left arm to lift and shake the light and medium-sized bottle.",
+    "Grip the medium bottle with colorful label using the left arm and shake.",
+    "Hold the curved orange soda bottle, shake it briefly.",
+    "Hold and shake the the curved orange soda bottle carefully.",
+    "Shake the the orange bottle properly after lifting.",
+    "With the left arm, pick the medium bottle with colorful label and shake properly.",
+    "Pick the round-bottom bottle with white cap, shake it with the left arm.",
+    "Grab the orange bottle and give it a shake.",
+    "Shake the orange drink bottle with label using the left arm after grabbing.",
+    "Grab the grooved orange drink bottle and shake it steadily.",
+    "Take the round-bottom bottle with white cap using the left arm and give it a shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grab the round-bottom bottle with white cap with the left arm and shake.",
+    "Grab the round-bottom bottle with white cap carefully and shake.",
+    "Use the left arm to grab the orange bottle and shake properly.",
+    "Catch the light and medium-sized bottle and shake it instantly.",
+    "Use the left arm to pick and shake the orange bottle.",
+    "Use the left arm to hold the bottle for holding drinks and shake it.",
+    "Use the left arm to lift and shake the curved orange soda bottle.",
+    "Hold the curved orange soda bottle with the left arm and shake lightly.",
+    "Lift up the ridged orange bottle with grooves using the left arm, then shake.",
+    "Lift the medium bottle with colorful label with the left arm and give it a shake.",
+    "Grasp the curved orange soda bottle with the left arm and shake it.",
+    "Shake the orange drink bottle with label after lifting it.",
+    "Grab the light and medium-sized bottle firmly, shake it, and put it down.",
+    "Lift the orange bottle and shake it thoroughly.",
+    "Pick the orange bottle up using the left arm and shake it.",
+    "Hold the orange bottle and shake it properly.",
+    "Use the left arm to lift and shake the cylindrical orange plastic bottle.",
+    "Lift the orange bottle with the left arm and shake."
+  ],
+  "unseen": [
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Pick and shake the the bottle with ridged orange grip with the left arm.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Use the left arm to grab the white capped orange plastic bottle and shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Pick and shake the the bottle with ridged orange grip with the left arm.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Grab the white capped orange plastic bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005150.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005150.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b31a5a31e4e65f7838fed7547a7c8f52100d4c5
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005150.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the medium bottle with orange lid after lifting it.",
+    "Lift the bottle with orange cap with the left arm and shake it.",
+    "Hold the bottle with ribbed orange bottom steady, then shake it.",
+    "Lift the drinking bottle with yellow label with the left arm and give it a shake.",
+    "Lift up the white and orange plastic bottle using the left arm, then shake.",
+    "Grab the smooth plastic bottle using the left arm, then shake.",
+    "Pick the orange and white bottle with cap up using the left arm and shake it.",
+    "Grab the medium bottle with orange lid and shake it steadily.",
+    "Using the left arm, shake the medium bottle with orange lid and then place it back.",
+    "Secure the medium orange bottle and perform a shake.",
+    "Grab the drinking bottle with yellow label firmly, shake it, and put it down.",
+    "Hold the white and orange plastic bottle and shake it properly.",
+    "Grab and shake the yellow label bottle using the left arm.",
+    "Catch the orange and white bottle with cap and shake it instantly.",
+    "Shake the the medium bottle with orange lid properly after lifting.",
+    "Grab the medium orange bottle and move it to shake.",
+    "Pick up the orange bottle and shake it.",
+    "Take the bottle with ribbed orange bottom using the left arm and give it a shake.",
+    "Lift the white and orange plastic bottle and shake it thoroughly.",
+    "Secure the orange bottle, shake it, and place it down.",
+    "Use the left arm to hold the medium bottle with orange lid and shake it.",
+    "Grab the drinking bottle with yellow label and give it a shake.",
+    "Use the left arm to lift and shake the orange bottle.",
+    "Lift the drinking bottle with yellow label and shake it gently.",
+    "Hold the bottle with ribbed orange bottom with the left arm and shake lightly.",
+    "Shake the bottle with ribbed orange bottom firmly after grabbing.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Grab the orange and white bottle with cap carefully and shake.",
+    "Shake the yellow label bottle thoroughly after grabbing it.",
+    "Lift the drinking bottle with yellow label with the left arm and shake.",
+    "Use the left arm to lift and shake the bottle with ribbed orange bottom.",
+    "Grab the yellow label bottle with the left arm and shake.",
+    "Utilize the left arm to hold the white and orange plastic bottle and shake it.",
+    "Hold the medium bottle with orange lid, shake it briefly.",
+    "With the left arm, pick the smooth plastic bottle and shake properly.",
+    "Pick the smooth plastic bottle up with the left arm and shake.",
+    "Use the left arm to grab the smooth plastic bottle and shake it.",
+    "Pick the orange and white bottle with cap, shake it with the left arm.",
+    "Shake the yellow label bottle after grabbing it.",
+    "Shake the orange and white bottle with cap after grabbing it.",
+    "Use the left arm to grab the bottle with orange cap and shake properly.",
+    "Shake the drinking bottle with yellow label after grabbing it.",
+    "Use the left arm to lift and shake the bottle with ribbed orange bottom.",
+    "Use the left arm to pick and shake the yellow label bottle.",
+    "Shake the drinking bottle with yellow label after holding it firmly.",
+    "Pick up the white and orange plastic bottle and shake it well.",
+    "Shake the drinking bottle with yellow label using the left arm after grabbing.",
+    "Grip the plastic bottle using the left arm and shake.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Grasp the orange bottle with the left arm and shake it.",
+    "Shake the orange and white bottle with cap after lifting it.",
+    "Lift the bottle with ribbed orange bottom with the left arm and shake it.",
+    "Hold the medium orange bottle steady, then shake it.",
+    "Lift the plastic bottle with the left arm and give it a shake.",
+    "Lift up the yellow label bottle using the left arm, then shake.",
+    "Grab the orange and white bottle with cap using the left arm, then shake.",
+    "Pick the smooth plastic bottle up using the left arm and shake it.",
+    "Grab the smooth plastic bottle and shake it steadily.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "Secure the medium orange bottle and perform a shake.",
+    "Grab the drinking bottle with yellow label firmly, shake it, and put it down.",
+    "Hold the orange and white bottle with cap and shake it properly.",
+    "Grab and shake the bottle with orange cap using the left arm.",
+    "Catch the medium orange bottle and shake it instantly.",
+    "Shake the the white and orange plastic bottle properly after lifting.",
+    "Grab the smooth plastic bottle and move it to shake.",
+    "Pick up the orange and white bottle with cap and shake it.",
+    "Take the drinking bottle with yellow label using the left arm and give it a shake.",
+    "Lift the orange bottle and shake it thoroughly.",
+    "Secure the white and orange plastic bottle, shake it, and place it down.",
+    "Use the left arm to hold the orange bottle and shake it.",
+    "Grab the smooth plastic bottle and give it a shake.",
+    "Use the left arm to lift and shake the white and orange plastic bottle.",
+    "Lift the plastic bottle and shake it gently.",
+    "Hold the medium bottle with orange lid with the left arm and shake lightly.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Pick the medium orange bottle and perform shaking motion.",
+    "Grab the yellow label bottle carefully and shake.",
+    "Shake the drinking bottle with yellow label thoroughly after grabbing it.",
+    "Lift the plastic bottle with the left arm and shake.",
+    "Use the left arm to lift and shake the bottle with ribbed orange bottom.",
+    "Grab the plastic bottle with the left arm and shake.",
+    "Utilize the left arm to hold the white and orange plastic bottle and shake it.",
+    "Hold the bottle with orange cap, shake it briefly.",
+    "With the left arm, pick the orange and white bottle with cap and shake properly.",
+    "Pick the orange and white bottle with cap up with the left arm and shake.",
+    "Use the left arm to grab the drinking bottle with yellow label and shake it.",
+    "Pick the plastic bottle, shake it with the left arm.",
+    "Shake the orange and white bottle with cap after grabbing it.",
+    "Shake the yellow label bottle after grabbing it.",
+    "Use the left arm to grab the orange and white bottle with cap and shake properly.",
+    "Shake the yellow label bottle after grabbing it.",
+    "Use the left arm to lift and shake the white and orange plastic bottle.",
+    "Use the left arm to pick and shake the yellow label bottle.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Pick up the plastic bottle and shake it well.",
+    "Shake the drinking bottle with yellow label using the left arm after grabbing.",
+    "Grip the yellow label bottle using the left arm and shake.",
+    "Hold and shake the the orange and white bottle with cap carefully.",
+    "Grasp the orange bottle with the left arm and shake it."
+  ],
+  "unseen": [
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Grab the bottle with curved body and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005187.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005187.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb5db7039d12a052202979891bfa232e77cb66f9
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005187.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the medium-sized orange bottle using the left arm and shake.",
+    "Use the left arm to grab the smooth plastic bottle and shake properly.",
+    "Lift the bottle with narrow neck and shake it thoroughly.",
+    "Hold the medium-sized orange bottle steady, then shake it.",
+    "Secure the plastic bottle with sealed yellow cap and perform a shake.",
+    "Grab the smooth plastic bottle firmly, shake it, and put it down.",
+    "Shake the bottle with printed label thoroughly after grabbing it.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Hold the smooth plastic bottle, shake it briefly.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Grab the bottle with yellow cap carefully and shake.",
+    "Pick up the plastic bottle with sealed yellow cap and shake it well.",
+    "Grasp the cylindrical orange bottle with yellow top with the left arm and shake it.",
+    "Grab the bottle with yellow cap with the left arm and shake.",
+    "Shake the bottle with printed label firmly after grabbing.",
+    "Use the left arm to lift and shake the bottle with yellow cap.",
+    "Pick the bottle with yellow cap up using the left arm and shake it.",
+    "Utilize the left arm to hold the cylindrical orange bottle with yellow top and shake it.",
+    "Lift the bottle with printed label with the left arm and shake it.",
+    "Use the left arm to lift and shake the bottle with printed label.",
+    "Using the left arm, shake the bottle with narrow neck and then place it back.",
+    "Catch the medium-sized orange bottle and shake it instantly.",
+    "Use the left arm to hold the orange bottle and shake it.",
+    "Lift up the plastic bottle using the left arm, then shake.",
+    "Grab and shake the bottle for liquids using the left arm.",
+    "Hold the bottle for liquids and shake it properly.",
+    "Secure the smooth plastic bottle, shake it, and place it down.",
+    "Shake the bottle with yellow cap after grabbing it.",
+    "With the left arm, pick the bottle with narrow neck and shake properly.",
+    "Pick the plastic bottle, shake it with the left arm.",
+    "Hold the plastic bottle with the left arm and shake lightly.",
+    "Pick the plastic bottle with sealed yellow cap and perform shaking motion.",
+    "Shake the smooth plastic bottle using the left arm after grabbing.",
+    "Grab the yellow-capped plastic bottle and move it to shake.",
+    "Use the left arm to pick and shake the bottle for liquids.",
+    "Shake the medium-sized orange bottle after grabbing it.",
+    "Shake the yellow-capped plastic bottle after holding it firmly.",
+    "Shake the smooth plastic bottle after lifting it.",
+    "Pick up the plastic bottle and shake it.",
+    "Lift the bottle with yellow cap with the left arm and give it a shake.",
+    "Shake the the smooth plastic bottle properly after lifting.",
+    "Grab the bottle with printed label and shake it steadily.",
+    "Take the bottle with printed label using the left arm and give it a shake.",
+    "Pick the smooth plastic bottle up with the left arm and shake.",
+    "Lift the bottle with printed label and shake it gently.",
+    "Use the left arm to grab the bottle with yellow cap and shake it.",
+    "Grab the cylindrical orange bottle with yellow top and give it a shake.",
+    "Lift the orange bottle with the left arm and shake.",
+    "Use the left arm to lift and shake the orange cylindrical bottle.",
+    "Grab the bottle with narrow neck using the left arm, then shake.",
+    "Grip the bottle with yellow cap using the left arm and shake.",
+    "Use the left arm to grab the plastic bottle with sealed yellow cap and shake properly.",
+    "Lift the bottle with printed label and shake it thoroughly.",
+    "Hold the orange bottle steady, then shake it.",
+    "Secure the smooth plastic bottle and perform a shake.",
+    "Grab the plastic bottle with sealed yellow cap firmly, shake it, and put it down.",
+    "Shake the bottle for liquids thoroughly after grabbing it.",
+    "Shake the cylindrical orange bottle with yellow top after grabbing it.",
+    "Hold the orange bottle, shake it briefly.",
+    "Hold and shake the the cylindrical orange bottle with yellow top carefully.",
+    "Grab the cylindrical orange bottle with yellow top carefully and shake.",
+    "Pick up the bottle with yellow cap and shake it well.",
+    "Grasp the yellow-capped plastic bottle with the left arm and shake it.",
+    "Grab the smooth plastic bottle with the left arm and shake.",
+    "Shake the yellow-capped plastic bottle firmly after grabbing.",
+    "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.",
+    "Pick the orange bottle up using the left arm and shake it.",
+    "Utilize the left arm to hold the bottle with narrow neck and shake it.",
+    "Lift the bottle with narrow neck with the left arm and shake it.",
+    "Use the left arm to lift and shake the orange cylindrical bottle.",
+    "Using the left arm, shake the medium-sized orange bottle and then place it back.",
+    "Catch the cylindrical orange bottle with yellow top and shake it instantly.",
+    "Use the left arm to hold the orange bottle and shake it.",
+    "Lift up the smooth plastic bottle using the left arm, then shake.",
+    "Grab and shake the yellow-capped plastic bottle using the left arm.",
+    "Hold the bottle with narrow neck and shake it properly.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Shake the cylindrical orange bottle with yellow top after grabbing it.",
+    "With the left arm, pick the bottle with yellow cap and shake properly.",
+    "Pick the smooth plastic bottle, shake it with the left arm.",
+    "Hold the plastic bottle with the left arm and shake lightly.",
+    "Pick the bottle with narrow neck and perform shaking motion.",
+    "Shake the bottle with printed label using the left arm after grabbing.",
+    "Grab the bottle with printed label and move it to shake.",
+    "Use the left arm to pick and shake the bottle with printed label.",
+    "Shake the orange cylindrical bottle after grabbing it.",
+    "Shake the cylindrical orange bottle with yellow top after holding it firmly.",
+    "Shake the bottle with yellow cap after lifting it.",
+    "Pick up the orange bottle and shake it.",
+    "Lift the orange cylindrical bottle with the left arm and give it a shake.",
+    "Shake the the yellow-capped plastic bottle properly after lifting.",
+    "Grab the bottle for liquids and shake it steadily.",
+    "Take the plastic bottle using the left arm and give it a shake.",
+    "Pick the cylindrical orange bottle with yellow top up with the left arm and shake.",
+    "Lift the plastic bottle and shake it gently.",
+    "Use the left arm to grab the plastic bottle with sealed yellow cap and shake it.",
+    "Grab the yellow-capped plastic bottle and give it a shake.",
+    "Lift the bottle with narrow neck with the left arm and shake.",
+    "Use the left arm to lift and shake the smooth plastic bottle.",
+    "Grab the plastic bottle with sealed yellow cap using the left arm, then shake."
+  ],
+  "unseen": [
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Grab the handheld orange bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005213.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005213.json
new file mode 100644
index 0000000000000000000000000000000000000000..655079f111348b2c9f5103c03e4af55d8fe76e67
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005213.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the bottle with black label after holding it firmly.",
+    "With the left arm, pick the bottle holding liquid and shake properly.",
+    "Secure the small bottle with decorative design, shake it, and place it down.",
+    "Shake the bottle with black label using the left arm after grabbing.",
+    "Lift the bottle with black label with the left arm and give it a shake.",
+    "Use the left arm to grab the curved bottle with white top and shake properly.",
+    "Lift the bottle with brown and white patterns with the left arm and shake it.",
+    "Pick the bottle with white screw cap and perform shaking motion.",
+    "Hold the hand-sized plastic bottle steady, then shake it.",
+    "Grab the plastic bottle using the left arm, then shake.",
+    "Hold the plastic bottle and shake it properly.",
+    "Catch the white-capped bottle and shake it instantly.",
+    "Shake the the hand-sized plastic bottle properly after lifting.",
+    "Hold and shake the the smooth brown and white patterned bottle carefully.",
+    "Shake the bottle with brown and white patterns after grabbing it.",
+    "Use the left arm to hold the bottle with brown and white patterns and shake it.",
+    "Secure the bottle with black label and perform a shake.",
+    "Grab the small bottle with decorative design with the left arm and shake.",
+    "Use the left arm to lift and shake the bottle with brown and white patterns.",
+    "Pick the bottle with white screw cap, shake it with the left arm.",
+    "Hold the small curved plastic bottle, shake it briefly.",
+    "Grasp the hand-sized plastic bottle with the left arm and shake it.",
+    "Use the left arm to lift and shake the small curved plastic bottle.",
+    "Use the left arm to grab the smooth brown and white patterned bottle and shake it.",
+    "Use the left arm to lift and shake the bottle with brown and white patterns.",
+    "Shake the hand-sized plastic bottle after lifting it.",
+    "Using the left arm, shake the curved bottle with white top and then place it back.",
+    "Pick up the hand-sized plastic bottle and shake it well.",
+    "Grab the bottle with brown and white patterns and give it a shake.",
+    "Utilize the left arm to hold the small bottle with decorative design and shake it.",
+    "Lift up the plastic bottle using the left arm, then shake.",
+    "Shake the brown bottle after grabbing it.",
+    "Pick the smooth brown and white patterned bottle up using the left arm and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Pick the white-capped bottle up with the left arm and shake.",
+    "Grab the small curved plastic bottle carefully and shake.",
+    "Lift the bottle with brown and white patterns and shake it gently.",
+    "Grab and shake the curved bottle with white top using the left arm.",
+    "Grab the bottle with black label and shake it steadily.",
+    "Use the left arm to pick and shake the brown bottle.",
+    "Lift the curved bottle with white top and shake it thoroughly.",
+    "Shake the brown bottle thoroughly after grabbing it.",
+    "Hold the small curved plastic bottle with the left arm and shake lightly.",
+    "Shake the small curved plastic bottle after grabbing it.",
+    "Grab the plastic bottle and move it to shake.",
+    "Take the brown bottle using the left arm and give it a shake.",
+    "Grip the small bottle with decorative design using the left arm and shake.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Lift the plastic bottle with the left arm and shake.",
+    "Shake the bottle with black label after holding it firmly.",
+    "With the left arm, pick the plastic bottle and shake properly.",
+    "Secure the brown bottle, shake it, and place it down.",
+    "Shake the hand-sized plastic bottle using the left arm after grabbing.",
+    "Lift the plastic bottle with the left arm and give it a shake.",
+    "Use the left arm to grab the white-capped bottle and shake properly.",
+    "Lift the curved bottle with white top with the left arm and shake it.",
+    "Pick the curved bottle with white top and perform shaking motion.",
+    "Hold the bottle holding liquid steady, then shake it.",
+    "Grab the bottle with brown and white patterns using the left arm, then shake.",
+    "Hold the curved bottle with white top and shake it properly.",
+    "Catch the hand-sized plastic bottle and shake it instantly.",
+    "Shake the the bottle with white screw cap properly after lifting.",
+    "Hold and shake the the bottle holding liquid carefully.",
+    "Shake the curved bottle with white top after grabbing it.",
+    "Use the left arm to hold the bottle with black label and shake it.",
+    "Secure the plastic bottle and perform a shake.",
+    "Grab the brown bottle with the left arm and shake.",
+    "Use the left arm to lift and shake the bottle with black label.",
+    "Pick the curved bottle with white top, shake it with the left arm.",
+    "Hold the curved bottle with white top, shake it briefly.",
+    "Grasp the white-capped bottle with the left arm and shake it.",
+    "Use the left arm to lift and shake the curved bottle with white top.",
+    "Use the left arm to grab the smooth brown and white patterned bottle and shake it.",
+    "Use the left arm to lift and shake the bottle with white screw cap.",
+    "Shake the bottle with white screw cap after lifting it.",
+    "Using the left arm, shake the bottle with brown and white patterns and then place it back.",
+    "Pick up the brown bottle and shake it well.",
+    "Grab the bottle with brown and white patterns and give it a shake.",
+    "Utilize the left arm to hold the white-capped bottle and shake it.",
+    "Lift up the bottle with white screw cap using the left arm, then shake.",
+    "Shake the small curved plastic bottle after grabbing it.",
+    "Pick the hand-sized plastic bottle up using the left arm and shake it.",
+    "Pick up the hand-sized plastic bottle and shake it.",
+    "Grab the bottle holding liquid firmly, shake it, and put it down.",
+    "Pick the plastic bottle up with the left arm and shake.",
+    "Grab the plastic bottle carefully and shake.",
+    "Lift the hand-sized plastic bottle and shake it gently.",
+    "Grab and shake the small curved plastic bottle using the left arm.",
+    "Grab the small bottle with decorative design and shake it steadily.",
+    "Use the left arm to pick and shake the white-capped bottle.",
+    "Lift the bottle with white screw cap and shake it thoroughly.",
+    "Shake the small bottle with decorative design thoroughly after grabbing it.",
+    "Hold the small bottle with decorative design with the left arm and shake lightly.",
+    "Shake the small bottle with decorative design after grabbing it.",
+    "Grab the bottle holding liquid and move it to shake.",
+    "Take the bottle with black label using the left arm and give it a shake.",
+    "Grip the bottle with brown and white patterns using the left arm and shake.",
+    "Shake the bottle with brown and white patterns firmly after grabbing.",
+    "Lift the bottle with black label with the left arm and shake."
+  ],
+  "unseen": [
+    "Use the left arm to grab the cylindrical bottle with curved sides and shake.",
+    "Grab the glossy brown bottle and give it a shake.",
+    "Shake the glossy brown bottle after picking it with the left arm.",
+    "Pick up the cylindrical bottle with curved sides and shake it.",
+    "Grab the glossy brown bottle and shake it.",
+    "Pick up the brown bottle with glossy swirls with the left arm and shake.",
+    "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.",
+    "Pick and shake the the cylindrical bottle with curved sides with the left arm.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Use the left arm to pick the brown bottle with glossy swirls.",
+    "Use the left arm to grab the glossy brown bottle and shake.",
+    "Grab the brown bottle with glossy swirls and give it a shake.",
+    "Shake the cylindrical bottle with curved sides after picking it with the left arm.",
+    "Pick up the glossy brown bottle and shake it.",
+    "Grab the brown bottle with glossy swirls and shake it.",
+    "Pick up the glossy brown bottle with the left arm and shake.",
+    "Grab the glossy brown bottle, shake it properly, then set it down.",
+    "Pick and shake the the brown bottle with glossy swirls with the left arm.",
+    "Pick up the glossy brown bottle and shake it.",
+    "Use the left arm to pick the glossy brown bottle.",
+    "Use the left arm to grab the brown bottle with glossy swirls and shake.",
+    "Grab the glossy brown bottle and give it a shake.",
+    "Shake the brown bottle with glossy swirls after picking it with the left arm.",
+    "Pick up the glossy brown bottle and shake it.",
+    "Grab the brown bottle with glossy swirls and shake it.",
+    "Pick up the brown bottle with glossy swirls with the left arm and shake.",
+    "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.",
+    "Pick and shake the the brown bottle with glossy swirls with the left arm.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Use the left arm to pick the brown bottle with glossy swirls.",
+    "Use the left arm to grab the cylindrical bottle with curved sides and shake.",
+    "Grab the glossy brown bottle and give it a shake.",
+    "Shake the glossy brown bottle after picking it with the left arm.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Grab the brown bottle with glossy swirls and shake it.",
+    "Pick up the brown bottle with glossy swirls with the left arm and shake.",
+    "Grab the glossy brown bottle, shake it properly, then set it down.",
+    "Pick and shake the the cylindrical bottle with curved sides with the left arm.",
+    "Pick up the glossy brown bottle and shake it.",
+    "Use the left arm to pick the brown bottle with glossy swirls.",
+    "Use the left arm to grab the glossy brown bottle and shake.",
+    "Grab the glossy brown bottle and give it a shake.",
+    "Shake the brown bottle with glossy swirls after picking it with the left arm.",
+    "Pick up the glossy brown bottle and shake it.",
+    "Grab the glossy brown bottle and shake it.",
+    "Pick up the brown bottle with glossy swirls with the left arm and shake.",
+    "Grab the glossy brown bottle, shake it properly, then set it down.",
+    "Pick and shake the the brown bottle with glossy swirls with the left arm.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Use the left arm to pick the glossy brown bottle.",
+    "Use the left arm to grab the cylindrical bottle with curved sides and shake.",
+    "Grab the cylindrical bottle with curved sides and give it a shake.",
+    "Shake the brown bottle with glossy swirls after picking it with the left arm.",
+    "Pick up the glossy brown bottle and shake it.",
+    "Grab the brown bottle with glossy swirls and shake it.",
+    "Pick up the brown bottle with glossy swirls with the left arm and shake.",
+    "Grab the brown bottle with glossy swirls, shake it properly, then set it down.",
+    "Pick and shake the the cylindrical bottle with curved sides with the left arm.",
+    "Pick up the cylindrical bottle with curved sides and shake it.",
+    "Use the left arm to pick the brown bottle with glossy swirls.",
+    "Use the left arm to grab the glossy brown bottle and shake.",
+    "Grab the brown bottle with glossy swirls and give it a shake.",
+    "Shake the glossy brown bottle after picking it with the left arm.",
+    "Pick up the glossy brown bottle and shake it.",
+    "Grab the brown bottle with glossy swirls and shake it.",
+    "Pick up the cylindrical bottle with curved sides with the left arm and shake.",
+    "Grab the glossy brown bottle, shake it properly, then set it down.",
+    "Pick and shake the the cylindrical bottle with curved sides with the left arm.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Use the left arm to pick the brown bottle with glossy swirls.",
+    "Use the left arm to grab the glossy brown bottle and shake.",
+    "Grab the glossy brown bottle and give it a shake.",
+    "Shake the glossy brown bottle after picking it with the left arm.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Grab the glossy brown bottle and shake it.",
+    "Pick up the glossy brown bottle with the left arm and shake.",
+    "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.",
+    "Pick and shake the the brown bottle with glossy swirls with the left arm.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Use the left arm to pick the brown bottle with glossy swirls.",
+    "Use the left arm to grab the brown bottle with glossy swirls and shake.",
+    "Grab the cylindrical bottle with curved sides and give it a shake.",
+    "Shake the brown bottle with glossy swirls after picking it with the left arm.",
+    "Pick up the cylindrical bottle with curved sides and shake it.",
+    "Grab the glossy brown bottle and shake it.",
+    "Pick up the glossy brown bottle with the left arm and shake.",
+    "Grab the glossy brown bottle, shake it properly, then set it down.",
+    "Pick and shake the the brown bottle with glossy swirls with the left arm.",
+    "Pick up the cylindrical bottle with curved sides and shake it.",
+    "Use the left arm to pick the brown bottle with glossy swirls.",
+    "Use the left arm to grab the cylindrical bottle with curved sides and shake.",
+    "Grab the cylindrical bottle with curved sides and give it a shake.",
+    "Shake the brown bottle with glossy swirls after picking it with the left arm.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Grab the brown bottle with glossy swirls and shake it.",
+    "Pick up the glossy brown bottle with the left arm and shake.",
+    "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.",
+    "Pick and shake the the brown bottle with glossy swirls with the left arm.",
+    "Pick up the cylindrical bottle with curved sides and shake it.",
+    "Use the left arm to pick the glossy brown bottle."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005292.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005292.json
new file mode 100644
index 0000000000000000000000000000000000000000..3217b6e5fe19c67c62a0c1e82d7469fdd02c512f
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005292.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the green bottle with indented base and perform shaking motion.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Secure the bottle with white printed label and perform a shake.",
+    "Grab the bottle with narrow top with the left arm and shake.",
+    "Hold the bottle with narrow top steady, then shake it.",
+    "Lift up the medium green bottle using the left arm, then shake.",
+    "Grip the medium-sized green bottle using the left arm and shake.",
+    "Shake the medium-sized green bottle after holding it firmly.",
+    "Shake the medium-sized green bottle after lifting it.",
+    "Shake the bottle with rounded neck using the left arm after grabbing.",
+    "Utilize the left arm to hold the medium-sized green bottle and shake it.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Grab the medium green bottle and give it a shake.",
+    "Shake the medium green bottle with capped neck after grabbing it.",
+    "Grab the smooth green plastic bottle and shake it steadily.",
+    "Pick the smooth green bottle, shake it with the left arm.",
+    "Hold the handheld green bottle and shake it properly.",
+    "Grab the bottle with ridges near base and move it to shake.",
+    "Use the left arm to hold the bottle with ridges near base and shake it.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Pick up the bottle with narrow top and shake it well.",
+    "Pick the handheld green bottle up with the left arm and shake.",
+    "Hold the handheld green bottle, shake it briefly.",
+    "Shake the bottle with narrow top firmly after grabbing.",
+    "Grab and shake the medium green bottle with capped neck using the left arm.",
+    "Grab the medium-sized green bottle firmly, shake it, and put it down.",
+    "Grab the handheld green bottle using the left arm, then shake.",
+    "Hold the smooth green bottle with the left arm and shake lightly.",
+    "Hold and shake the the bottle with rounded neck carefully.",
+    "Lift the medium-sized green bottle with the left arm and give it a shake.",
+    "With the left arm, pick the bottle with narrow top and shake properly.",
+    "Use the left arm to lift and shake the smooth green plastic bottle.",
+    "Pick up the bottle with white printed label and shake it.",
+    "Shake the bottle with rounded neck after grabbing it.",
+    "Shake the the handheld green bottle properly after lifting.",
+    "Grasp the medium green bottle with the left arm and shake it.",
+    "Use the left arm to pick and shake the handheld green bottle.",
+    "Lift the handheld green bottle with the left arm and shake it.",
+    "Shake the bottle with white printed label thoroughly after grabbing it.",
+    "Shake the handheld green bottle after grabbing it.",
+    "Use the left arm to lift and shake the bottle with white printed label.",
+    "Grab the handheld green bottle carefully and shake.",
+    "Use the left arm to grab the bottle with rounded neck and shake it.",
+    "Using the left arm, shake the smooth green bottle and then place it back.",
+    "Use the left arm to lift and shake the green bottle with indented base.",
+    "Pick the handheld green bottle up using the left arm and shake it.",
+    "Take the bottle with ridges near base using the left arm and give it a shake.",
+    "Use the left arm to grab the plastic bottle and shake properly.",
+    "Lift the bottle with white printed label and shake it gently.",
+    "Lift the medium green bottle with the left arm and shake.",
+    "Pick the medium green bottle with capped neck and perform shaking motion.",
+    "Secure the bottle with narrow top, shake it, and place it down.",
+    "Secure the bottle with narrow top and perform a shake.",
+    "Grab the green bottle with indented base with the left arm and shake.",
+    "Hold the handheld green bottle steady, then shake it.",
+    "Lift up the smooth green bottle using the left arm, then shake.",
+    "Grip the bottle with white printed label using the left arm and shake.",
+    "Shake the bottle with narrow top after holding it firmly.",
+    "Shake the green bottle with indented base after lifting it.",
+    "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.",
+    "Catch the medium-sized green bottle and shake it instantly.",
+    "Grab the medium green bottle and give it a shake.",
+    "Shake the handheld green bottle after grabbing it.",
+    "Grab the bottle with narrow top and shake it steadily.",
+    "Pick the medium green bottle with capped neck, shake it with the left arm.",
+    "Hold the handheld green bottle and shake it properly.",
+    "Grab the medium-sized green bottle and move it to shake.",
+    "Use the left arm to hold the plastic bottle and shake it.",
+    "Lift the medium green bottle and shake it thoroughly.",
+    "Pick up the smooth green plastic bottle and shake it well.",
+    "Pick the handheld green bottle up with the left arm and shake.",
+    "Hold the smooth green plastic bottle, shake it briefly.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Grab and shake the bottle with rounded neck using the left arm.",
+    "Grab the smooth green bottle firmly, shake it, and put it down.",
+    "Grab the handheld green bottle using the left arm, then shake.",
+    "Hold the medium green bottle with capped neck with the left arm and shake lightly.",
+    "Hold and shake the the bottle with ridges near base carefully.",
+    "Lift the bottle with ridges near base with the left arm and give it a shake.",
+    "With the left arm, pick the smooth green bottle and shake properly.",
+    "Use the left arm to lift and shake the bottle with ridges near base.",
+    "Pick up the smooth green bottle and shake it.",
+    "Shake the smooth green bottle after grabbing it.",
+    "Shake the the green bottle with indented base properly after lifting.",
+    "Grasp the plastic bottle with the left arm and shake it.",
+    "Use the left arm to pick and shake the bottle with narrow top.",
+    "Lift the green bottle with indented base with the left arm and shake it.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Shake the medium green bottle with capped neck after grabbing it.",
+    "Use the left arm to lift and shake the medium green bottle.",
+    "Grab the handheld green bottle carefully and shake.",
+    "Use the left arm to grab the handheld green bottle and shake it.",
+    "Using the left arm, shake the handheld green bottle and then place it back.",
+    "Use the left arm to lift and shake the medium-sized green bottle.",
+    "Pick the medium green bottle up using the left arm and shake it.",
+    "Take the smooth green bottle using the left arm and give it a shake.",
+    "Use the left arm to grab the green bottle with indented base and shake properly.",
+    "Lift the bottle with ridges near base and shake it gently.",
+    "Lift the bottle with narrow top with the left arm and 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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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 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 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.",
+    "Shake the green bottle 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 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.",
+    "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 left arm and 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 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 grab the green bottle 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, 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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "Grab the green bottle and give it a 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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "Grab the green plastic bottle with ridged bottom and give it a 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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "Use the left arm to pick the green bottle."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005299.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005299.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd9c47583dc6ed8f893aa9e6d547c5e16cad480e
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005299.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift up the bottle with rounded neck using the left arm, then shake.",
+    "Shake the green bottle with indented base after lifting it.",
+    "Hold the bottle with rounded neck steady, then shake it.",
+    "Pick the bottle with narrow top up using the left arm and shake it.",
+    "Shake the bottle with white printed label after holding it firmly.",
+    "With the left arm, pick the bottle with rounded neck and shake properly.",
+    "Shake the handheld green bottle after grabbing it.",
+    "Grab the green bottle with indented base carefully and shake.",
+    "Hold the smooth green plastic bottle with the left arm and shake lightly.",
+    "Shake the smooth green bottle thoroughly after grabbing it.",
+    "Secure the bottle with rounded neck and perform a shake.",
+    "Lift the bottle with ridges near base and shake it thoroughly.",
+    "Pick the bottle with rounded neck, shake it with the left arm.",
+    "Pick up the green bottle with indented base and shake it well.",
+    "Use the left arm to grab the bottle with rounded neck and shake it.",
+    "Take the medium-sized 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.",
+    "Hold and shake the the bottle with rounded neck carefully.",
+    "Grab the plastic bottle using the left arm, then shake.",
+    "Use the left arm to lift and shake the handheld green bottle.",
+    "Lift the green bottle with indented base with the left arm and shake.",
+    "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 properly.",
+    "Grab the smooth green plastic bottle and move it to shake.",
+    "Grip the bottle with white printed label using the left arm and shake.",
+    "Use the left arm to hold the medium-sized green bottle and shake it.",
+    "Catch the bottle with white printed label and shake it instantly.",
+    "Pick the bottle with narrow top and perform shaking motion.",
+    "Use the left arm to lift and shake the handheld green bottle.",
+    "Grasp the bottle with ridges near base with the left arm and shake it.",
+    "Grab the medium-sized green bottle with the left arm and shake.",
+    "Secure the bottle with narrow top, shake it, and place it down.",
+    "Use the left arm to pick and shake the bottle with narrow top.",
+    "Lift the smooth green plastic bottle and shake it gently.",
+    "Shake the handheld green bottle after grabbing it.",
+    "Shake the green bottle with indented base after grabbing it.",
+    "Hold the medium green bottle, shake it briefly.",
+    "Shake the the medium green bottle with capped neck properly after lifting.",
+    "Lift the bottle with narrow top with the left arm and shake it.",
+    "Grab the bottle with white printed label firmly, shake it, and put it down.",
+    "Shake the bottle with narrow top firmly after grabbing.",
+    "Utilize the left arm to hold the plastic bottle and shake it.",
+    "Pick up the smooth green bottle and shake it.",
+    "Shake the medium-sized green bottle using the left arm after grabbing.",
+    "Grab the bottle with white printed label and give it a shake.",
+    "Pick the bottle with white printed label up with the left arm and shake.",
+    "Grab and shake the smooth green plastic bottle using the left arm.",
+    "Use the left arm to lift and shake the bottle with narrow top.",
+    "Hold the medium-sized green bottle and shake it properly.",
+    "Grab the bottle with white printed label and shake it steadily.",
+    "Lift up the green bottle with indented base using the left arm, then shake.",
+    "Shake the medium-sized green bottle after lifting it.",
+    "Hold the bottle with narrow top steady, then shake it.",
+    "Pick the green bottle with indented base up using the left arm and shake it.",
+    "Shake the bottle with ridges near base after holding it firmly.",
+    "With the left arm, pick the green bottle with indented base and shake properly.",
+    "Shake the bottle with ridges near base after grabbing it.",
+    "Grab the bottle with narrow top carefully and shake.",
+    "Hold the smooth green bottle with the left arm and shake lightly.",
+    "Shake the bottle with white printed label thoroughly after grabbing it.",
+    "Secure the green bottle with indented base and perform a shake.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Pick the smooth green plastic bottle, shake it with the left arm.",
+    "Pick up the bottle with ridges near base and shake it well.",
+    "Use the left arm to grab the handheld green bottle and shake it.",
+    "Take the bottle with white printed label using the left arm and give it a shake.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "Hold and shake the the smooth green plastic bottle carefully.",
+    "Grab the plastic bottle using the left arm, then shake.",
+    "Use the left arm to lift and shake the medium green bottle with capped neck.",
+    "Lift the medium-sized green bottle with the left arm and shake.",
+    "Lift the plastic 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 properly.",
+    "Grab the bottle with ridges near base and move it to shake.",
+    "Grip the plastic bottle using the left arm and shake.",
+    "Use the left arm to hold the bottle with rounded neck and shake it.",
+    "Catch the medium-sized green bottle and shake it instantly.",
+    "Pick the medium green bottle and perform shaking motion.",
+    "Use the left arm to lift and shake the handheld green bottle.",
+    "Grasp the plastic bottle with the left arm and shake it.",
+    "Grab the smooth green bottle with the left arm and shake.",
+    "Secure the green bottle with indented base, shake it, and place it down.",
+    "Use the left arm to pick and shake the smooth green plastic bottle.",
+    "Lift the medium green bottle and shake it gently.",
+    "Shake the handheld green bottle after grabbing it.",
+    "Shake the bottle with white printed label after grabbing it.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Shake the the bottle with ridges near base properly after lifting.",
+    "Lift the smooth green bottle with the left arm and shake it.",
+    "Grab the bottle with narrow top firmly, shake it, and put it down.",
+    "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 handheld green bottle and shake it.",
+    "Shake the green bottle with indented base using the left arm after grabbing.",
+    "Grab the plastic bottle and give it a shake.",
+    "Pick the green bottle with indented base up with the left arm and shake.",
+    "Grab and shake the green bottle with indented base using the left arm.",
+    "Use the left arm to lift and shake the medium green bottle.",
+    "Hold the smooth green plastic bottle and shake it properly.",
+    "Grab the medium green bottle and shake it steadily."
+  ],
+  "unseen": [
+    "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 with white label and shake it.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Grab the green bottle and give it a 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 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.",
+    "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 bottle with white label after picking it with the left arm.",
+    "Grab the green bottle and give it a shake.",
+    "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, shake it properly, then set it down.",
+    "Pick up the green bottle with the left arm and shake.",
+    "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 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.",
+    "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 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.",
+    "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 and give it a 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 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.",
+    "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.",
+    "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 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.",
+    "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 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 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 with the left arm and 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 bottle after picking it with the left arm.",
+    "Grab the green bottle and give it a shake.",
+    "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 bottle, shake it properly, then set it down.",
+    "Pick up the green bottle with white label with the left arm and 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 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 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 with the left arm and 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 and give it a 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 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.",
+    "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.",
+    "Shake the green bottle with white label 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 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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005353.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005353.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab8336a061b53d2b5f24d9ef9e5e520002d92e28
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005353.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to hold the cylindrical bottle with white label and shake it.",
+    "Catch the small drink bottle with logo and shake it instantly.",
+    "Secure the small brown plastic bottle, shake it, and place it down.",
+    "Pick up the brown bottle with green screw-on cap and shake it.",
+    "Hold and shake the the hand-sized bottle with grooves carefully.",
+    "Take the bottle with tapered cylindrical shape using the right arm and give it a shake.",
+    "Use the right arm to grab the brown bottle with green screw-on cap and shake it.",
+    "Shake the hand-sized bottle with grooves firmly after grabbing.",
+    "Grab the green-capped bottle and move it to shake.",
+    "Utilize the right arm to hold the small brown plastic bottle and shake it.",
+    "Grab the brown bottle with green screw-on cap using the right arm, then shake.",
+    "Grab and shake the small brown plastic bottle using the right arm.",
+    "Lift the brown bottle with the right arm and shake it.",
+    "Shake the the green-capped bottle properly after lifting.",
+    "Lift the bottle with green cap and shake it gently.",
+    "Hold the bottle with tapered cylindrical shape with the right arm and shake lightly.",
+    "Shake the small drink bottle with logo after grabbing it.",
+    "Shake the small drink bottle with logo after holding it firmly.",
+    "Using the right arm, shake the small drink bottle with logo and then place it back.",
+    "Pick the bottle with green cap up with the right arm and shake.",
+    "Hold the hand-sized bottle with grooves and shake it properly.",
+    "With the right arm, pick the brown bottle and shake properly.",
+    "Use the right arm to pick and shake the hand-sized bottle with grooves.",
+    "Shake the plastic bottle with ribbed pattern thoroughly after grabbing it.",
+    "Grip the green-capped bottle using the right arm and shake.",
+    "Use the right arm to lift and shake the bottle with green cap.",
+    "Grab the hand-sized bottle with grooves with the right arm and shake.",
+    "Lift the brown bottle with the right arm and shake.",
+    "Secure the green-capped bottle and perform a shake.",
+    "Hold the bottle with green cap steady, then shake it.",
+    "Pick the small brown plastic bottle and perform shaking motion.",
+    "Lift the brown bottle with white printed label and shake it thoroughly.",
+    "Shake the brown bottle with green screw-on cap after grabbing it.",
+    "Grasp the brown bottle with white printed label with the right arm and shake it.",
+    "Shake the bottle with tapered cylindrical shape after grabbing it.",
+    "Pick up the green-capped bottle and shake it well.",
+    "Shake the small drink bottle with logo using the right arm after grabbing.",
+    "Grab the plastic bottle with ribbed pattern firmly, shake it, and put it down.",
+    "Lift up the hand-sized bottle with grooves using the right arm, then shake.",
+    "Use the right arm to lift and shake the brown bottle with white printed label.",
+    "Grab the smooth plastic bottle for beverages and shake it steadily.",
+    "Grab the brown bottle with white printed label carefully and shake.",
+    "Hold the green-capped bottle, shake it briefly.",
+    "Shake the brown bottle with green screw-on cap after lifting it.",
+    "Grab the brown bottle with green screw-on cap and give it a shake.",
+    "Lift the brown bottle with the right arm and give it a shake.",
+    "Pick the plastic bottle with ribbed pattern, shake it with the right arm.",
+    "Use the right arm to lift and shake the small drink bottle with logo.",
+    "Use the right arm to grab the small drink bottle with logo and shake properly.",
+    "Pick the cylindrical bottle with white label up using the right arm and shake it.",
+    "Use the right arm to hold the green-capped bottle and shake it.",
+    "Catch the green-capped bottle and shake it instantly.",
+    "Secure the smooth plastic bottle for beverages, shake it, and place it down.",
+    "Pick up the cylindrical bottle with white label and shake it.",
+    "Hold and shake the the smooth plastic bottle for beverages carefully.",
+    "Take the small brown plastic bottle using the right arm and give it a shake.",
+    "Use the right arm to grab the small brown plastic bottle and shake it.",
+    "Shake the brown bottle with white printed label firmly after grabbing.",
+    "Grab the brown bottle with white printed label and move it to shake.",
+    "Utilize the right arm to hold the brown bottle with green screw-on cap and shake it.",
+    "Grab the cylindrical bottle with white label using the right arm, then shake.",
+    "Grab and shake the smooth plastic bottle for beverages using the right arm.",
+    "Lift the brown bottle with green screw-on cap with the right arm and shake it.",
+    "Shake the the green-capped bottle properly after lifting.",
+    "Lift the brown bottle and shake it gently.",
+    "Hold the cylindrical bottle with white label with the right arm and shake lightly.",
+    "Shake the plastic bottle with ribbed pattern after grabbing it.",
+    "Shake the small brown plastic bottle after holding it firmly.",
+    "Using the right arm, shake the brown bottle with white printed label and then place it back.",
+    "Pick the bottle with tapered cylindrical shape up with the right arm and shake.",
+    "Hold the small drink bottle with logo and shake it properly.",
+    "With the right arm, pick the smooth plastic bottle for beverages and shake properly.",
+    "Use the right arm to pick and shake the bottle with tapered cylindrical shape.",
+    "Shake the brown bottle thoroughly after grabbing it.",
+    "Grip the hand-sized bottle with grooves using the right arm and shake.",
+    "Use the right arm to lift and shake the hand-sized bottle with grooves.",
+    "Grab the smooth plastic bottle for beverages with the right arm and shake.",
+    "Lift the plastic bottle with ribbed pattern with the right arm and shake.",
+    "Secure the brown bottle and perform a shake.",
+    "Hold the bottle with tapered cylindrical shape steady, then shake it.",
+    "Pick the brown bottle with white printed label and perform shaking motion.",
+    "Lift the brown bottle with green screw-on cap and shake it thoroughly.",
+    "Shake the bottle with tapered cylindrical shape after grabbing it.",
+    "Grasp the brown bottle with white printed label with the right arm and shake it.",
+    "Shake the green-capped bottle after grabbing it.",
+    "Pick up the brown bottle and shake it well.",
+    "Shake the bottle with tapered cylindrical shape using the right arm after grabbing.",
+    "Grab the plastic bottle with ribbed pattern firmly, shake it, and put it down.",
+    "Lift up the bottle with tapered cylindrical shape using the right arm, then shake.",
+    "Use the right arm to lift and shake the small drink bottle with logo.",
+    "Grab the plastic bottle with ribbed pattern and shake it steadily.",
+    "Grab the small drink bottle with logo carefully and shake.",
+    "Hold the small drink bottle with logo, shake it briefly.",
+    "Shake the small brown plastic bottle after lifting it.",
+    "Grab the bottle with green cap and give it a shake.",
+    "Lift the small brown plastic bottle with the right arm and give it a shake.",
+    "Pick the smooth plastic bottle for beverages, shake it with the right arm.",
+    "Use the right arm to lift and shake the bottle with tapered cylindrical shape.",
+    "Use the right arm to grab the bottle with tapered cylindrical shape and shake properly.",
+    "Pick the green-capped bottle up using the right arm and shake it."
+  ],
+  "unseen": [
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Use the right arm to pick the bottle with coffee-colored body.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Grab the bottle with coffee-colored body and shake it.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Use the right arm to pick the bottle with coffee-colored body.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Grab the bottle with coffee-colored body and give it a shake.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Pick up the plastic Starbucks bottle with the right arm and shake.",
+    "Pick and shake the the bottle with coffee-colored body with the right arm.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Use the right arm to grab the bottle with Starbucks logo on label and shake.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Use the right arm to pick the bottle with coffee-colored body.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Grab the bottle with coffee-colored body and give it a shake.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Use the right arm to grab the bottle with Starbucks logo on label and shake.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Pick and shake the the bottle with coffee-colored body with the right arm.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Grab the bottle with coffee-colored body and give it a shake.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down.",
+    "Pick up the plastic Starbucks bottle with the right arm and shake.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006095.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006095.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dc6301c4903ac7449173e2695fc79c846e88cfe
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006095.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the orange bottle and shake it instantly.",
+    "Grab the bottle with ribbed orange bottom firmly, shake it, and put it down.",
+    "Grasp the plastic bottle with the right arm and shake it.",
+    "Grab the white and orange plastic bottle and shake it steadily.",
+    "Use the right arm to grab the medium orange bottle and shake it.",
+    "Lift the bottle with orange cap and shake it thoroughly.",
+    "Use the right arm to lift and shake the medium orange bottle.",
+    "Shake the plastic bottle using the right arm after grabbing.",
+    "Hold the medium bottle with orange lid with the right arm and shake lightly.",
+    "Secure the bottle with ribbed orange bottom, shake it, and place it down.",
+    "Secure the bottle with orange cap and perform a shake.",
+    "Grab and shake the medium orange bottle using the right arm.",
+    "Hold and shake the the smooth plastic bottle carefully.",
+    "Shake the white and orange plastic bottle firmly after grabbing.",
+    "Using the right arm, shake the orange bottle and then place it back.",
+    "Pick up the smooth plastic bottle and shake it well.",
+    "Lift up the medium orange bottle using the right arm, then shake.",
+    "Grab the yellow label bottle and give it a shake.",
+    "Shake the the cylindrical orange and white bottle properly after lifting.",
+    "Hold the yellow label bottle and shake it properly.",
+    "Shake the yellow label bottle after grabbing it.",
+    "Lift the medium orange bottle with the right arm and shake it.",
+    "Lift the yellow label bottle and shake it gently.",
+    "Grab the bottle with orange cap with the right arm and shake.",
+    "Utilize the right arm to hold the cylindrical orange and white bottle and shake it.",
+    "Use the right arm to pick and shake the medium orange bottle.",
+    "Pick the cylindrical orange and white bottle up using the right arm and shake it.",
+    "Shake the bottle with ribbed orange bottom after grabbing it.",
+    "Grab the drinking bottle with yellow label using the right arm, then shake.",
+    "Use the right arm to lift and shake the white and orange plastic bottle.",
+    "Grab the smooth plastic bottle and move it to shake.",
+    "Shake the orange bottle thoroughly after grabbing it.",
+    "Lift the medium bottle with orange lid with the right arm and shake.",
+    "Use the right arm to lift and shake the yellow label bottle.",
+    "Pick the smooth plastic bottle and perform shaking motion.",
+    "With the right arm, pick the drinking bottle with yellow label and shake properly.",
+    "Pick the white and orange plastic bottle, shake it with the right arm.",
+    "Hold the orange and white bottle with cap steady, then shake it.",
+    "Grab the medium orange bottle carefully and shake.",
+    "Shake the white and orange plastic bottle after lifting it.",
+    "Pick up the orange bottle and shake it.",
+    "Take the bottle with ribbed orange bottom using the right arm and give it a shake.",
+    "Shake the yellow label bottle after grabbing it.",
+    "Use the right arm to hold the bottle with ribbed orange bottom and shake it.",
+    "Hold the orange and white bottle with cap, shake it briefly.",
+    "Use the right arm to grab the medium orange bottle and shake properly.",
+    "Pick the smooth plastic bottle up with the right arm and shake.",
+    "Lift the orange and white bottle with cap with the right arm and give it a shake.",
+    "Shake the bottle with ribbed orange bottom after holding it firmly.",
+    "Grip the yellow label bottle using the right arm and shake.",
+    "Catch the yellow label bottle and shake it instantly.",
+    "Grab the yellow label bottle firmly, shake it, and put it down.",
+    "Grasp the medium bottle with orange lid with the right arm and shake it.",
+    "Grab the smooth plastic bottle and shake it steadily.",
+    "Use the right arm to grab the white and orange plastic bottle and shake it.",
+    "Lift the smooth plastic bottle and shake it thoroughly.",
+    "Use the right arm to lift and shake the orange and white bottle with cap.",
+    "Shake the smooth plastic bottle using the right arm after grabbing.",
+    "Hold the orange bottle with the right arm and shake lightly.",
+    "Secure the bottle with ribbed orange bottom, shake it, and place it down.",
+    "Secure the white and orange plastic bottle and perform a shake.",
+    "Grab and shake the orange and white bottle with cap using the right arm.",
+    "Hold and shake the the smooth plastic bottle carefully.",
+    "Shake the cylindrical orange and white bottle firmly after grabbing.",
+    "Using the right arm, shake the bottle with ribbed orange bottom and then place it back.",
+    "Pick up the smooth plastic bottle and shake it well.",
+    "Lift up the plastic bottle using the right arm, then shake.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Shake the the medium orange bottle properly after lifting.",
+    "Hold the orange bottle and shake it properly.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Lift the drinking bottle with yellow label with the right arm and shake it.",
+    "Lift the medium bottle with orange lid and shake it gently.",
+    "Grab the smooth plastic bottle with the right arm and shake.",
+    "Utilize the right arm to hold the orange bottle and shake it.",
+    "Use the right arm to pick and shake the bottle with orange cap.",
+    "Pick the white and orange plastic bottle up using the right arm and shake it.",
+    "Shake the orange and white bottle with cap after grabbing it.",
+    "Grab the medium orange bottle using the right arm, then shake.",
+    "Use the right arm to lift and shake the orange bottle.",
+    "Grab the bottle with orange cap and move it to shake.",
+    "Shake the bottle with ribbed orange bottom thoroughly after grabbing it.",
+    "Lift the bottle with ribbed orange bottom with the right arm and shake.",
+    "Use the right arm to lift and shake the white and orange plastic bottle.",
+    "Pick the orange bottle and perform shaking motion.",
+    "With the right arm, pick the orange bottle and shake properly.",
+    "Pick the white and orange plastic bottle, shake it with the right arm.",
+    "Hold the drinking bottle with yellow label steady, then shake it.",
+    "Grab the bottle with ribbed orange bottom carefully and shake.",
+    "Shake the bottle with ribbed orange bottom after lifting it.",
+    "Pick up the orange bottle and shake it.",
+    "Take the cylindrical orange and white bottle using the right arm and give it a shake.",
+    "Shake the yellow label bottle after grabbing it.",
+    "Use the right arm to hold the white and orange plastic bottle and shake it.",
+    "Hold the cylindrical orange and white bottle, shake it briefly.",
+    "Use the right arm to grab the cylindrical orange and white bottle and shake properly.",
+    "Pick the bottle with orange cap up with the right arm and shake.",
+    "Lift the yellow label bottle with the right arm and give it a shake.",
+    "Shake the orange and white bottle with cap after holding it firmly.",
+    "Grip the smooth plastic bottle using the right arm and shake."
+  ],
+  "unseen": [
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body and shake it.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body and shake it.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with curved body and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006118.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006118.json
new file mode 100644
index 0000000000000000000000000000000000000000..a488d9fb20d185995e15fb9c4329c26b645012c4
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006118.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the orange bottle with the right arm and shake it.",
+    "Grab the smooth plastic bottle and give it a shake.",
+    "Shake the orange and white bottle with cap after lifting it.",
+    "Use the right arm to pick and shake the smooth plastic bottle.",
+    "Use the right arm to lift and shake the bottle with orange cap.",
+    "Hold the drinking bottle with yellow label and shake it properly.",
+    "Catch the yellow label bottle and shake it instantly.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Secure the yellow label bottle and perform a shake.",
+    "Shake the smooth plastic bottle using the right arm after grabbing.",
+    "Hold the orange and white bottle with cap steady, then shake it.",
+    "Grip the white and orange plastic bottle using the right arm and shake.",
+    "Pick the yellow label bottle and perform shaking motion.",
+    "Grab the smooth plastic bottle and move it to shake.",
+    "Pick up the orange and white bottle with cap and shake it well.",
+    "Hold and shake the the yellow label bottle carefully.",
+    "Use the right arm to hold the cylindrical orange and white bottle and shake it.",
+    "Lift the cylindrical orange and white bottle with the right arm and shake.",
+    "Lift the drinking bottle with yellow label and shake it gently.",
+    "With the right arm, pick the cylindrical orange and white bottle and shake properly.",
+    "Hold the bottle with ribbed orange bottom with the right arm and shake lightly.",
+    "Shake the the orange bottle properly after lifting.",
+    "Pick the yellow label bottle, shake it with the right arm.",
+    "Shake the cylindrical orange and white bottle thoroughly after grabbing it.",
+    "Shake the white and orange plastic bottle firmly after grabbing.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Use the right arm to grab the white and orange plastic bottle and shake properly.",
+    "Pick the medium orange bottle up using the right arm and shake it.",
+    "Using the right arm, shake the orange bottle and then place it back.",
+    "Take the bottle with ribbed orange bottom using the right arm and give it a shake.",
+    "Shake the yellow label bottle after grabbing it.",
+    "Grab the cylindrical orange and white bottle carefully and shake.",
+    "Grab the bottle with ribbed orange bottom and shake it steadily.",
+    "Secure the orange and white bottle with cap, shake it, and place it down.",
+    "Pick the drinking bottle with yellow label up with the right arm and shake.",
+    "Lift up the yellow label bottle using the right arm, then shake.",
+    "Shake the bottle with orange cap after grabbing it.",
+    "Lift the yellow label bottle with the right arm and give it a shake.",
+    "Shake the orange bottle after holding it firmly.",
+    "Grab and shake the plastic bottle using the right arm.",
+    "Pick up the orange bottle and shake it.",
+    "Lift the medium orange bottle with the right arm and shake it.",
+    "Grab the white and orange plastic bottle with the right arm and shake.",
+    "Shake the bottle with orange cap after grabbing it.",
+    "Grab the cylindrical orange and white bottle firmly, shake it, and put it down.",
+    "Grab the cylindrical orange and white bottle using the right arm, then shake.",
+    "Lift the orange and white bottle with cap and shake it thoroughly.",
+    "Utilize the right arm to hold the plastic bottle and shake it.",
+    "Hold the bottle with orange cap, shake it briefly.",
+    "Use the right arm to grab the yellow label bottle and shake it.",
+    "Grasp the yellow label bottle with the right arm and shake it.",
+    "Grab the white and orange plastic bottle and give it a shake.",
+    "Shake the bottle with orange cap after lifting it.",
+    "Use the right arm to pick and shake the smooth plastic bottle.",
+    "Use the right arm to lift and shake the bottle with ribbed orange bottom.",
+    "Hold the orange bottle and shake it properly.",
+    "Catch the drinking bottle with yellow label and shake it instantly.",
+    "Use the right arm to lift and shake the medium orange bottle.",
+    "Secure the yellow label bottle and perform a shake.",
+    "Shake the white and orange plastic bottle using the right arm after grabbing.",
+    "Hold the smooth plastic bottle steady, then shake it.",
+    "Grip the plastic bottle using the right arm and shake.",
+    "Pick the drinking bottle with yellow label and perform shaking motion.",
+    "Grab the plastic bottle and move it to shake.",
+    "Pick up the orange and white bottle with cap and shake it well.",
+    "Hold and shake the the orange and white bottle with cap carefully.",
+    "Use the right arm to hold the bottle with ribbed orange bottom and shake it.",
+    "Lift the bottle with ribbed orange bottom with the right arm and shake.",
+    "Lift the medium bottle with orange lid and shake it gently.",
+    "With the right arm, pick the drinking bottle with yellow label and shake properly.",
+    "Hold the orange bottle with the right arm and shake lightly.",
+    "Shake the the smooth plastic bottle properly after lifting.",
+    "Pick the medium orange bottle, shake it with the right arm.",
+    "Shake the smooth plastic bottle thoroughly after grabbing it.",
+    "Shake the orange bottle firmly after grabbing.",
+    "Use the right arm to lift and shake the bottle with ribbed orange bottom.",
+    "Use the right arm to grab the yellow label bottle and shake properly.",
+    "Pick the bottle with orange cap up using the right arm and shake it.",
+    "Using the right arm, shake the plastic bottle and then place it back.",
+    "Take the yellow label bottle using the right arm and give it a shake.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Grab the white and orange plastic bottle carefully and shake.",
+    "Grab the drinking bottle with yellow label and shake it steadily.",
+    "Secure the orange and white bottle with cap, shake it, and place it down.",
+    "Pick the medium bottle with orange lid up with the right arm and shake.",
+    "Lift up the bottle with orange cap using the right arm, then shake.",
+    "Shake the orange bottle after grabbing it.",
+    "Lift the yellow label bottle with the right arm and give it a shake.",
+    "Shake the cylindrical orange and white bottle after holding it firmly.",
+    "Grab and shake the bottle with ribbed orange bottom using the right arm.",
+    "Pick up the orange bottle and shake it.",
+    "Lift the medium bottle with orange lid with the right arm and shake it.",
+    "Grab the medium bottle with orange lid with the right arm and shake.",
+    "Shake the orange and white bottle with cap after grabbing it.",
+    "Grab the orange and white bottle with cap firmly, shake it, and put it down.",
+    "Grab the bottle with ribbed orange bottom using the right arm, then shake.",
+    "Lift the orange and white bottle with cap and shake it thoroughly.",
+    "Utilize the right arm to hold the orange and white bottle with cap and shake it.",
+    "Hold the orange and white bottle with cap, shake it briefly.",
+    "Use the right arm to grab the bottle with ribbed orange bottom and shake it."
+  ],
+  "unseen": [
+    "Grab the bottle with curved body and give it a shake.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006155.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006155.json
new file mode 100644
index 0000000000000000000000000000000000000000..24da892e2069b3dffe1616b25e232347097be967
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006155.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the cylindrical orange plastic bottle using the right arm after grabbing.",
+    "Use the right arm to grab the cylindrical orange plastic bottle and shake it.",
+    "Shake the ridged orange bottle with grooves after grabbing it.",
+    "Shake the grooved orange drink bottle thoroughly after grabbing it.",
+    "Grab the orange drink bottle with label and give it a shake.",
+    "Lift the orange drink bottle with label and shake it thoroughly.",
+    "Hold the curved orange soda bottle with the right arm and shake lightly.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Secure the medium bottle with colorful label and perform a shake.",
+    "Grab the orange bottle using the right arm, then shake.",
+    "Pick up the ridged orange bottle with grooves and shake it well.",
+    "Pick up the curved orange soda bottle and shake it.",
+    "Hold the orange drink bottle with label steady, then shake it.",
+    "Pick the light and medium-sized bottle up using the right arm and shake it.",
+    "Catch the orange drink bottle with label and shake it instantly.",
+    "Shake the cylindrical orange plastic bottle after grabbing it.",
+    "Use the right arm to pick and shake the curved orange soda bottle.",
+    "Shake the medium bottle with colorful label firmly after grabbing.",
+    "Hold the orange bottle, shake it briefly.",
+    "Pick the round-bottom bottle with white cap up with the right arm and shake.",
+    "Use the right arm to grab the grooved orange drink bottle and shake properly.",
+    "Lift up the smooth orange bottle using the right arm, then shake.",
+    "Utilize the right arm to hold the curved orange soda bottle and shake it.",
+    "Grab and shake the ridged orange bottle with grooves using the right arm.",
+    "Use the right arm to lift and shake the ridged orange bottle with grooves.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Grip the curved orange soda bottle using the right arm and shake.",
+    "Lift the orange bottle with the right arm and shake it.",
+    "Shake the orange drink bottle with label after grabbing it.",
+    "Pick the bottle for holding drinks and perform shaking motion.",
+    "Pick the bottle for holding drinks, shake it with the right arm.",
+    "With the right arm, pick the cylindrical orange plastic bottle and shake properly.",
+    "Lift the light and medium-sized bottle with the right arm and give it a shake.",
+    "Grab the ridged orange bottle with grooves firmly, shake it, and put it down.",
+    "Shake the medium bottle with colorful label after lifting it.",
+    "Hold the orange drink bottle with label and shake it properly.",
+    "Lift the plastic bottle and shake it gently.",
+    "Grab the curved orange soda bottle with the right arm and shake.",
+    "Using the right arm, shake the medium bottle with colorful label and then place it back.",
+    "Grab the plastic bottle and move it to shake.",
+    "Hold and shake the the bottle for holding drinks carefully.",
+    "Use the right arm to lift and shake the medium bottle with colorful label.",
+    "Use the right arm to hold the curved orange soda bottle and shake it.",
+    "Take the orange bottle using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the round-bottom bottle with white cap.",
+    "Grab the curved orange soda bottle carefully and shake.",
+    "Secure the medium bottle with colorful label, shake it, and place it down.",
+    "Grasp the medium bottle with colorful label with the right arm and shake it.",
+    "Shake the orange bottle after holding it firmly.",
+    "Lift the grooved orange drink bottle with the right arm and shake.",
+    "Shake the orange drink bottle with label using the right arm after grabbing.",
+    "Use the right arm to grab the grooved orange drink bottle and shake it.",
+    "Shake the orange bottle after grabbing it.",
+    "Shake the grooved orange drink bottle thoroughly after grabbing it.",
+    "Grab the bottle for holding drinks and give it a shake.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Hold the bottle for holding drinks with the right arm and shake lightly.",
+    "Shake the the cylindrical orange plastic bottle properly after lifting.",
+    "Secure the ridged orange bottle with grooves and perform a shake.",
+    "Grab the curved orange soda bottle using the right arm, then shake.",
+    "Pick up the bottle for holding drinks and shake it well.",
+    "Pick up the orange drink bottle with label and shake it.",
+    "Hold the orange bottle steady, then shake it.",
+    "Pick the round-bottom bottle with white cap up using the right arm and shake it.",
+    "Catch the curved orange soda bottle and shake it instantly.",
+    "Shake the curved orange soda bottle after grabbing it.",
+    "Use the right arm to pick and shake the plastic bottle.",
+    "Shake the curved orange soda bottle firmly after grabbing.",
+    "Hold the grooved orange drink bottle, shake it briefly.",
+    "Pick the round-bottom bottle with white cap up with the right arm and shake.",
+    "Use the right arm to grab the round-bottom bottle with white cap and shake properly.",
+    "Lift up the light and medium-sized bottle using the right arm, then shake.",
+    "Utilize the right arm to hold the plastic bottle and shake it.",
+    "Grab and shake the smooth orange bottle using the right arm.",
+    "Use the right arm to lift and shake the medium bottle with colorful label.",
+    "Grab the bottle for holding drinks and shake it steadily.",
+    "Grip the plastic bottle using the right arm and shake.",
+    "Lift the grooved orange drink bottle with the right arm and shake it.",
+    "Shake the light and medium-sized bottle after grabbing it.",
+    "Pick the light and medium-sized bottle and perform shaking motion.",
+    "Pick the smooth orange bottle, shake it with the right arm.",
+    "With the right arm, pick the curved orange soda bottle and shake properly.",
+    "Lift the ridged orange bottle with grooves with the right arm and give it a shake.",
+    "Grab the orange drink bottle with label firmly, shake it, and put it down.",
+    "Shake the round-bottom bottle with white cap after lifting it.",
+    "Hold the plastic bottle and shake it properly.",
+    "Lift the medium bottle with colorful label and shake it gently.",
+    "Grab the orange bottle with the right arm and shake.",
+    "Using the right arm, shake the cylindrical orange plastic bottle and then place it back.",
+    "Grab the medium bottle with colorful label and move it to shake.",
+    "Hold and shake the the ridged orange bottle with grooves carefully.",
+    "Use the right arm to lift and shake the smooth orange bottle.",
+    "Use the right arm to hold the round-bottom bottle with white cap and shake it.",
+    "Take the ridged orange bottle with grooves using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the bottle for holding drinks.",
+    "Grab the ridged orange bottle with grooves carefully and shake.",
+    "Secure the smooth orange bottle, shake it, and place it down.",
+    "Grasp the curved orange soda bottle with the right arm and shake it.",
+    "Shake the smooth orange bottle after holding it firmly.",
+    "Lift the grooved orange drink bottle with the right arm and shake."
+  ],
+  "unseen": [
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006301.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006301.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb3706703ccb134d95f892e0d802892d55b0599d
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006301.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the rectangular bottle with cylindrical neck steady, then shake it.",
+    "Utilize the right arm to hold the yellow container with rounded edges and shake it.",
+    "Lift the smooth bottle with rounded edges with the right arm and give it a shake.",
+    "Grab the bottle with green label with the right arm and shake.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Lift the bottle with white cap with the right arm and shake.",
+    "Hold the smooth bottle with rounded edges with the right arm and shake lightly.",
+    "Use the right arm to pick and shake the bottle with green and white labels.",
+    "Pick the smooth bottle with rounded edges and perform shaking motion.",
+    "Secure the rectangular bottle with cylindrical neck and perform a shake.",
+    "Grab the plastic bottle and give it a shake.",
+    "Shake the yellow bottle thoroughly after grabbing it.",
+    "Grab the yellow plastic bottle with white top and shake it steadily.",
+    "Pick the bottle with green and white labels up using the right arm and shake it.",
+    "Shake the the yellow plastic bottle with white top properly after lifting.",
+    "Grab and shake the medium rectangular yellow bottle using the right arm.",
+    "Grab the yellow bottle with a green design carefully and shake.",
+    "Use the right arm to grab the yellow bottle with a green design and shake properly.",
+    "Grab the plastic bottle and move it to shake.",
+    "Pick up the yellow bottle and shake it well.",
+    "Grab the medium rectangular yellow bottle using the right arm, then shake.",
+    "Shake the bottle with green label after grabbing it.",
+    "Take the rectangular bottle with cylindrical neck using the right arm and give it a shake.",
+    "Lift the yellow plastic bottle with white top and shake it thoroughly.",
+    "Use the right arm to hold the yellow bottle and shake it.",
+    "Secure the yellow bottle, shake it, and place it down.",
+    "Use the right arm to grab the yellow bottle and shake it.",
+    "Lift the yellow bottle with the right arm and shake it.",
+    "Hold the medium rectangular yellow bottle and shake it properly.",
+    "Use the right arm to lift and shake the bottle with white cap.",
+    "Grip the yellow bottle with a green design using the right arm and shake.",
+    "Lift the yellow bottle with a green design and shake it gently.",
+    "Use the right arm to lift and shake the bottle with a smooth plastic body.",
+    "Using the right arm, shake the bottle with green label and then place it back.",
+    "Pick the bottle with a smooth plastic body, shake it with the right arm.",
+    "Shake the bottle with green label firmly after grabbing.",
+    "Shake the yellow bottle with a green design after holding it firmly.",
+    "Shake the yellow plastic bottle with white top using the right arm after grabbing.",
+    "Shake the bottle with a smooth plastic body after lifting it.",
+    "Pick the yellow container with rounded edges up with the right arm and shake.",
+    "Catch the bottle with green and white labels and shake it instantly.",
+    "Grasp the bottle with white cap with the right arm and shake it.",
+    "Grab the smooth bottle with rounded edges firmly, shake it, and put it down.",
+    "Shake the bottle with a smooth plastic body after grabbing it.",
+    "Shake the bottle with a smooth plastic body after grabbing it.",
+    "With the right arm, pick the yellow container with rounded edges and shake properly.",
+    "Lift up the bottle with green label using the right arm, then shake.",
+    "Hold the medium rectangular yellow bottle, shake it briefly.",
+    "Hold and shake the the bottle with a smooth plastic body carefully.",
+    "Pick up the bottle with white cap and shake it.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Utilize the right arm to hold the medium rectangular yellow bottle and shake it.",
+    "Lift the smooth bottle with rounded edges with the right arm and give it a shake.",
+    "Grab the bottle with green and white labels with the right arm and shake.",
+    "Use the right arm to lift and shake the yellow container with rounded edges.",
+    "Lift the rectangular bottle with cylindrical neck with the right arm and shake.",
+    "Hold the smooth bottle with rounded edges with the right arm and shake lightly.",
+    "Use the right arm to pick and shake the bottle with white cap.",
+    "Pick the bottle with green label and perform shaking motion.",
+    "Secure the yellow bottle and perform a shake.",
+    "Grab the bottle with green label and give it a shake.",
+    "Shake the smooth bottle with rounded edges thoroughly after grabbing it.",
+    "Grab the bottle with green and white labels and shake it steadily.",
+    "Pick the bottle with green label up using the right arm and shake it.",
+    "Shake the the yellow container with rounded edges properly after lifting.",
+    "Grab and shake the yellow plastic bottle with white top using the right arm.",
+    "Grab the bottle with green label carefully and shake.",
+    "Use the right arm to grab the yellow bottle with a green design and shake properly.",
+    "Grab the yellow bottle with a green design and move it to shake.",
+    "Pick up the yellow bottle and shake it well.",
+    "Grab the bottle with a smooth plastic body using the right arm, then shake.",
+    "Shake the yellow bottle with a green design after grabbing it.",
+    "Take the bottle with white cap using the right arm and give it a shake.",
+    "Lift the bottle with green and white labels and shake it thoroughly.",
+    "Use the right arm to hold the medium rectangular yellow bottle and shake it.",
+    "Secure the yellow container with rounded edges, shake it, and place it down.",
+    "Use the right arm to grab the medium rectangular yellow bottle and shake it.",
+    "Lift the yellow bottle with a green design with the right arm and shake it.",
+    "Hold the medium rectangular yellow bottle and shake it properly.",
+    "Use the right arm to lift and shake the yellow container with rounded edges.",
+    "Grip the rectangular bottle with cylindrical neck using the right arm and shake.",
+    "Lift the bottle with a smooth plastic body and shake it gently.",
+    "Use the right arm to lift and shake the yellow bottle.",
+    "Using the right arm, shake the bottle with white cap and then place it back.",
+    "Pick the bottle with a smooth plastic body, shake it with the right arm.",
+    "Shake the rectangular bottle with cylindrical neck firmly after grabbing.",
+    "Shake the bottle with green label after holding it firmly.",
+    "Shake the medium rectangular yellow bottle using the right arm after grabbing.",
+    "Shake the yellow container with rounded edges after lifting it.",
+    "Pick the smooth bottle with rounded edges up with the right arm and shake.",
+    "Catch the medium rectangular yellow bottle and shake it instantly.",
+    "Grasp the bottle with green and white labels with the right arm and shake it.",
+    "Grab the bottle with a smooth plastic body firmly, shake it, and put it down.",
+    "Shake the bottle with a smooth plastic body after grabbing it.",
+    "Shake the bottle with white cap after grabbing it.",
+    "With the right arm, pick the medium rectangular yellow bottle and shake properly.",
+    "Lift up the smooth bottle with rounded edges using the right arm, then shake.",
+    "Hold the bottle with white cap, shake it briefly.",
+    "Hold and shake the the bottle with white cap carefully.",
+    "Pick up the yellow bottle with a green design and shake it."
+  ],
+  "unseen": [
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Use the right arm to pick the yellow bottle for liquid storage."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006333.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006333.json
new file mode 100644
index 0000000000000000000000000000000000000000..3791f0fa906687c0449cad8e8fb0c7e312b04610
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006333.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the rounded body bottle made of plastic thoroughly after grabbing it.",
+    "Shake the bottle shaped like small cylinder after lifting it.",
+    "Pick the light gray colored container bottle up with the right arm and shake.",
+    "Grab and shake the gray bottle with slight shine using the right arm.",
+    "Hold the medium cylinder-shaped bottle with the right arm and shake lightly.",
+    "Shake the hand-sized bottle with screw cap after grabbing it.",
+    "Lift the smooth cylindrical bottle and shake it thoroughly.",
+    "Shake the light gray colored container bottle after grabbing it.",
+    "Grab the hand-sized bottle with screw cap using the right arm, then shake.",
+    "Use the right arm to hold the medium-sized plastic bottle and shake it.",
+    "Secure the hand-sized bottle with screw cap and perform a shake.",
+    "Grasp the rounded body bottle made of plastic with the right arm and shake it.",
+    "Secure the medium cylinder-shaped bottle, shake it, and place it down.",
+    "Grab the milk-bottle shape design with the right arm and shake.",
+    "Lift the medium-sized plastic bottle and shake it gently.",
+    "Hold the plastic bottle with ghost print and shake it properly.",
+    "Using the right arm, shake the plastic bottle with ghost print and then place it back.",
+    "Pick the rounded body bottle made of plastic and perform shaking motion.",
+    "Shake the medium-sized plastic bottle using the right arm after grabbing.",
+    "Grab the medium cylinder-shaped bottle and move it to shake.",
+    "Lift up the smooth surface bottle with gray shade using the right arm, then shake.",
+    "Grab the medium cylinder-shaped bottle firmly, shake it, and put it down.",
+    "Pick the medium cylinder-shaped bottle, shake it with the right arm.",
+    "Shake the plastic bottle with ghost print firmly after grabbing.",
+    "Utilize the right arm to hold the smooth surface bottle with gray shade and shake it.",
+    "Hold the hand-sized bottle with screw cap, shake it briefly.",
+    "Grip the medium-sized plastic bottle using the right arm and shake.",
+    "Shake the rounded body bottle made of plastic after holding it firmly.",
+    "Lift the smooth cylindrical bottle with the right arm and shake.",
+    "Use the right arm to lift and shake the gray bottle with slight shine.",
+    "Pick up the milk-bottle shape design and shake it.",
+    "Lift the bottle shaped like small cylinder with the right arm and shake it.",
+    "Pick up the hand-sized bottle with screw cap and shake it well.",
+    "Shake the plastic bottle with ghost print after grabbing it.",
+    "Use the right arm to pick and shake the hand-sized bottle with screw cap.",
+    "With the right arm, pick the smooth surface bottle with gray shade and shake properly.",
+    "Hold and shake the the bottle with cute ghost drawing carefully.",
+    "Catch the rounded body bottle made of plastic and shake it instantly.",
+    "Use the right arm to grab the smooth surface bottle with gray shade and shake it.",
+    "Lift the plastic bottle with ghost print with the right arm and give it a shake.",
+    "Grab the plastic bottle with ghost print and shake it steadily.",
+    "Grab the smooth cylindrical bottle and give it a shake.",
+    "Pick the rounded body bottle made of plastic up using the right arm and shake it.",
+    "Use the right arm to lift and shake the rounded body bottle made of plastic.",
+    "Shake the the bottle shaped like small cylinder properly after lifting.",
+    "Use the right arm to lift and shake the milk-bottle shape design.",
+    "Take the plastic bottle with ghost print using the right arm and give it a shake.",
+    "Grab the plastic bottle with ghost print carefully and shake.",
+    "Hold the milk-bottle shape design steady, then shake it.",
+    "Use the right arm to grab the plastic bottle with ghost print and shake properly.",
+    "Shake the medium cylinder-shaped bottle thoroughly after grabbing it.",
+    "Shake the bottle shaped like small cylinder after lifting it.",
+    "Pick the bottle with cute ghost drawing up with the right arm and shake.",
+    "Grab and shake the medium-sized plastic bottle using the right arm.",
+    "Hold the bottle shaped like small cylinder with the right arm and shake lightly.",
+    "Shake the bottle with cute ghost drawing after grabbing it.",
+    "Lift the smooth surface bottle with gray shade and shake it thoroughly.",
+    "Shake the medium-sized plastic bottle after grabbing it.",
+    "Grab the hand-sized bottle with screw cap using the right arm, then shake.",
+    "Use the right arm to hold the smooth cylindrical bottle and shake it.",
+    "Secure the medium cylinder-shaped bottle and perform a shake.",
+    "Grasp the smooth cylindrical bottle with the right arm and shake it.",
+    "Secure the gray bottle with slight shine, shake it, and place it down.",
+    "Grab the smooth cylindrical bottle with the right arm and shake.",
+    "Lift the smooth cylindrical bottle and shake it gently.",
+    "Hold the medium cylinder-shaped bottle and shake it properly.",
+    "Using the right arm, shake the smooth surface bottle with gray shade and then place it back.",
+    "Pick the milk-bottle shape design and perform shaking motion.",
+    "Shake the smooth surface bottle with gray shade using the right arm after grabbing.",
+    "Grab the medium-sized plastic bottle and move it to shake.",
+    "Lift up the smooth cylindrical bottle using the right arm, then shake.",
+    "Grab the bottle shaped like small cylinder firmly, shake it, and put it down.",
+    "Pick the medium cylinder-shaped bottle, shake it with the right arm.",
+    "Shake the plastic bottle with ghost print firmly after grabbing.",
+    "Utilize the right arm to hold the gray bottle with slight shine and shake it.",
+    "Hold the medium-sized plastic bottle, shake it briefly.",
+    "Grip the medium-sized plastic bottle using the right arm and shake.",
+    "Shake the hand-sized bottle with screw cap after holding it firmly.",
+    "Lift the plastic bottle with ghost print with the right arm and shake.",
+    "Use the right arm to lift and shake the milk-bottle shape design.",
+    "Pick up the plastic bottle with ghost print and shake it.",
+    "Lift the milk-bottle shape design with the right arm and shake it.",
+    "Pick up the smooth cylindrical bottle and shake it well.",
+    "Shake the rounded body bottle made of plastic after grabbing it.",
+    "Use the right arm to pick and shake the smooth surface bottle with gray shade.",
+    "With the right arm, pick the plastic bottle with ghost print and shake properly.",
+    "Hold and shake the the rounded body bottle made of plastic carefully.",
+    "Catch the medium cylinder-shaped bottle and shake it instantly.",
+    "Use the right arm to grab the smooth cylindrical bottle and shake it.",
+    "Lift the medium-sized plastic bottle with the right arm and give it a shake.",
+    "Grab the plastic bottle with ghost print and shake it steadily.",
+    "Grab the light gray colored container bottle and give it a shake.",
+    "Pick the plastic bottle with ghost print up using the right arm and shake it.",
+    "Use the right arm to lift and shake the milk-bottle shape design.",
+    "Shake the the medium cylinder-shaped bottle properly after lifting.",
+    "Use the right arm to lift and shake the smooth cylindrical bottle.",
+    "Take the bottle with cute ghost drawing using the right arm and give it a shake.",
+    "Grab the hand-sized bottle with screw cap carefully and shake.",
+    "Hold the milk-bottle shape design steady, then shake it.",
+    "Use the right arm to grab the rounded body bottle made of plastic and shake properly."
+  ],
+  "unseen": [
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the light gray bottle and shake it.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Use the right arm to pick the light gray bottle.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Use the right arm to pick the light gray bottle.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Use the right arm to pick the light gray bottle.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle and shake it.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Use the right arm to pick the light gray bottle.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the light gray bottle and shake it.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Use the right arm to pick the gray bottle for holding drinks."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007032.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007032.json
new file mode 100644
index 0000000000000000000000000000000000000000..903d42024a9734f5427aa8154d83cd78194ad503
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007032.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the Coca-Cola bottle carefully and shake.",
+    "Grab and shake the plastic drink bottle using the left arm.",
+    "Shake the bottle with white neck and red top using the left arm after grabbing.",
+    "Use the left arm to hold the plastic drink bottle and shake it.",
+    "Lift the Coca-Cola bottle with the left arm and shake it.",
+    "Grip the bottle with ridges on bottom using the left arm and shake.",
+    "Shake the hand-sized soda bottle after grabbing it.",
+    "Catch the dark drink bottle with logo and shake it instantly.",
+    "Hold and shake the the long thin bottle carefully.",
+    "Lift the hand-sized soda bottle and shake it thoroughly.",
+    "Pick the bottle with ridges on bottom up using the left arm and shake it.",
+    "Grab the plastic drink bottle and give it a shake.",
+    "Secure the narrow-necked bottle and perform a shake.",
+    "Shake the the plastic drink bottle properly after lifting.",
+    "Lift the medium dark brown bottle with the left arm and give it a shake.",
+    "Hold the brown bottle with red label and shake it properly.",
+    "Grab the bottle with ridges on bottom with the left arm and shake.",
+    "Lift the hand-sized soda bottle and shake it gently.",
+    "Shake the bottle with white neck and red top after grabbing it.",
+    "Hold the Coca-Cola bottle with the left arm and shake lightly.",
+    "Shake the hand-sized soda bottle after holding it firmly.",
+    "Pick up the Coca-Cola bottle and shake it well.",
+    "Lift the narrow-necked bottle with the left arm and shake.",
+    "Using the left arm, shake the Coca-Cola bottle and then place it back.",
+    "Grasp the plastic drink bottle with the left arm and shake it.",
+    "Pick up the bottle with white neck and red top and shake it.",
+    "Hold the bottle with ridges on bottom steady, then shake it.",
+    "Grab the hand-sized soda bottle and shake it steadily.",
+    "Lift up the bottle with ridges on bottom using the left arm, then shake.",
+    "Shake the long thin bottle thoroughly after grabbing it.",
+    "Shake the red-capped bottle after lifting it.",
+    "Use the left arm to grab the plastic drink bottle and shake properly.",
+    "Secure the bottle with white neck and red top, shake it, and place it down.",
+    "Utilize the left arm to hold the red-capped bottle and shake it.",
+    "With the left arm, pick the brown bottle with red label and shake properly.",
+    "Take the bottle with white neck and red top using the left arm and give it a shake.",
+    "Use the left arm to lift and shake the plastic drink bottle.",
+    "Grab the smooth bottle with red lid and move it to shake.",
+    "Use the left arm to grab the long thin bottle and shake it.",
+    "Use the left arm to lift and shake the bottle with ridges on bottom.",
+    "Use the left arm to lift and shake the medium dark brown bottle.",
+    "Shake the medium dark brown bottle after grabbing it.",
+    "Pick the hand-sized soda bottle, shake it with the left arm.",
+    "Pick the red-capped bottle up with the left arm and shake.",
+    "Hold the bottle with ridges on bottom, shake it briefly.",
+    "Grab the long thin bottle firmly, shake it, and put it down.",
+    "Shake the brown bottle with red label firmly after grabbing.",
+    "Use the left arm to pick and shake the smooth bottle with red lid.",
+    "Grab the medium dark brown bottle using the left arm, then shake.",
+    "Pick the medium dark brown bottle and perform shaking motion.",
+    "Grab the brown bottle with red label carefully and shake.",
+    "Grab and shake the Coca-Cola bottle using the left arm.",
+    "Shake the Coca-Cola bottle using the left arm after grabbing.",
+    "Use the left arm to hold the medium dark brown bottle and shake 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 Coca-Cola bottle after grabbing it.",
+    "Catch the narrow-necked bottle and shake it instantly.",
+    "Hold and shake the the hand-sized soda bottle carefully.",
+    "Lift the narrow-necked bottle and shake it thoroughly.",
+    "Pick the bottle with white neck and red top up using the left arm and shake it.",
+    "Grab the smooth bottle with red lid and give it a shake.",
+    "Secure the bottle with white neck and red top and perform a shake.",
+    "Shake the the bottle with white neck and red top properly after lifting.",
+    "Lift the narrow-necked bottle with the left arm and give it a shake.",
+    "Hold the red-capped bottle and shake it properly.",
+    "Grab the bottle with white neck and red top with the left arm and shake.",
+    "Lift the Coca-Cola bottle and shake it gently.",
+    "Shake the red-capped bottle after grabbing it.",
+    "Hold the brown bottle with red label with the left arm and shake lightly.",
+    "Shake the red-capped bottle after holding it firmly.",
+    "Pick up the medium dark brown bottle and shake it well.",
+    "Lift the dark drink bottle with logo with the left arm and shake.",
+    "Using the left arm, shake the long thin bottle and then place it back.",
+    "Grasp the plastic drink bottle with the left arm and shake it.",
+    "Pick up the Coca-Cola bottle and shake it.",
+    "Hold the bottle with white neck and red top steady, then shake it.",
+    "Grab the Coca-Cola bottle and shake it steadily.",
+    "Lift up the smooth bottle with red lid using the left arm, then shake.",
+    "Shake the smooth bottle with red lid thoroughly after grabbing it.",
+    "Shake the hand-sized soda bottle after lifting it.",
+    "Use the left arm to grab the red-capped bottle and shake properly.",
+    "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.",
+    "With the left arm, pick the plastic drink 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 lift and shake the Coca-Cola bottle.",
+    "Grab the brown bottle with red label 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 red-capped bottle.",
+    "Use the left arm to lift and shake the plastic drink bottle.",
+    "Shake the hand-sized soda bottle after grabbing it.",
+    "Pick the long thin bottle, shake it with the left arm.",
+    "Pick the bottle with ridges on bottom up with the left arm and shake.",
+    "Hold the bottle with ridges on bottom, shake it briefly.",
+    "Grab the brown bottle with red label firmly, shake it, and put it down.",
+    "Shake the red-capped bottle firmly after grabbing.",
+    "Use the left arm to pick and shake the red-capped bottle.",
+    "Grab the plastic drink bottle using the left arm, then shake.",
+    "Pick the medium dark brown bottle and perform shaking motion."
+  ],
+  "unseen": [
+    "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.",
+    "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 and shake it.",
+    "Pick up 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.",
+    "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.",
+    "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.",
+    "Grab the plastic soda bottle 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.",
+    "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 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.",
+    "Shake the plastic soda bottle after picking it with the left arm.",
+    "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.",
+    "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, 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.",
+    "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 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.",
+    "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, 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.",
+    "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 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 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, 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.",
+    "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 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 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, 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 plastic soda bottle and shake.",
+    "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 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.",
+    "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 plastic soda bottle, shake it properly, then set it down.",
+    "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 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 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 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, 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.",
+    "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 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.",
+    "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 brown bottle.",
+    "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.",
+    "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.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007062.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007062.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ea116a7a604318bb04019e43871f0dd2624f6c8
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007062.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the yellow bottle and give it a shake.",
+    "Grab the yellow bottle with flower design with the right arm and shake.",
+    "Catch the bottle with green and white label and shake it instantly.",
+    "Hold the bottle for liquids with the right arm and shake lightly.",
+    "Use the right arm to hold the smooth yellow plastic bottle and shake it.",
+    "Lift the yellow bottle and shake it thoroughly.",
+    "Grab the rectangular bottle using the right arm, then shake.",
+    "Lift the handheld bottle and shake it gently.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Grasp the bottle with green and white label with the right arm and shake it.",
+    "Utilize the right arm to hold the yellow bottle and shake it.",
+    "Shake the smooth yellow plastic bottle thoroughly after grabbing it.",
+    "Use the right arm to pick and shake the yellow bottle with green label.",
+    "Pick up the yellow bottle with flower design and shake it.",
+    "Shake the bottle with green and white label after grabbing it.",
+    "Shake the the bottle with green and white label properly after lifting.",
+    "Take the bottle with white cap using the right arm and give it a shake.",
+    "Shake the yellow bottle with green label firmly after grabbing.",
+    "Lift up the rectangular bottle using the right arm, then shake.",
+    "Grab the yellow bottle carefully and shake.",
+    "Grab and shake the bottle for liquids using the right arm.",
+    "Pick the yellow bottle with flower design, shake it with the right arm.",
+    "Lift the handheld bottle with the right arm and shake it.",
+    "Lift the yellow body bottle with the right arm and give it a shake.",
+    "Pick the yellow bottle with flower design and perform shaking motion.",
+    "Shake the yellow bottle with flower design using the right arm after grabbing.",
+    "With the right arm, pick the smooth yellow plastic bottle and shake properly.",
+    "Use the right arm to lift and shake the yellow bottle with green label.",
+    "Use the right arm to grab the yellow bottle and shake properly.",
+    "Hold and shake the the smooth yellow plastic bottle carefully.",
+    "Hold the bottle for liquids steady, then shake it.",
+    "Shake the smooth yellow plastic bottle after grabbing it.",
+    "Shake the smooth yellow plastic bottle after lifting it.",
+    "Hold the smooth yellow plastic bottle and shake it properly.",
+    "Grab the yellow bottle with cylindrical cap and shake it steadily.",
+    "Grip the smooth yellow plastic bottle using the right arm and shake.",
+    "Secure the bottle with white cap and perform a shake.",
+    "Secure the yellow bottle with flower design, shake it, and place it down.",
+    "Hold the yellow bottle with cylindrical cap, shake it briefly.",
+    "Grab the handheld bottle firmly, shake it, and put it down.",
+    "Pick the yellow bottle up using the right arm and shake it.",
+    "Pick up the rectangular bottle and shake it well.",
+    "Use the right arm to grab the yellow bottle with flower design and shake it.",
+    "Shake the yellow bottle with green label after holding it firmly.",
+    "Using the right arm, shake the yellow bottle with flower design and then place it back.",
+    "Shake the plastic bottle after grabbing it.",
+    "Pick the yellow bottle up with the right arm and shake.",
+    "Grab the bottle with green and white label and move it to shake.",
+    "Use the right arm to lift and shake the bottle with green and white label.",
+    "Lift the yellow body bottle with the right arm and shake.",
+    "Grab the yellow bottle and give it a shake.",
+    "Grab the bottle with white cap with the right arm and shake.",
+    "Catch the yellow body bottle and shake it instantly.",
+    "Hold the yellow bottle with the right arm and shake lightly.",
+    "Use the right arm to hold the bottle with white cap and shake it.",
+    "Lift the yellow bottle with green label and shake it thoroughly.",
+    "Grab the smooth yellow plastic bottle using the right arm, then shake.",
+    "Lift the yellow bottle with green label and shake it gently.",
+    "Use the right arm to lift and shake the bottle with white cap.",
+    "Grasp the yellow bottle with flower design with the right arm and shake it.",
+    "Utilize the right arm to hold the yellow bottle and shake it.",
+    "Shake the yellow bottle with cylindrical cap thoroughly after grabbing it.",
+    "Use the right arm to pick and shake the bottle with green and white label.",
+    "Pick up the bottle with green and white label and shake it.",
+    "Shake the yellow bottle with cylindrical cap after grabbing it.",
+    "Shake the the bottle for liquids properly after lifting.",
+    "Take the yellow bottle with flower design using the right arm and give it a shake.",
+    "Shake the bottle for liquids firmly after grabbing.",
+    "Lift up the yellow bottle using the right arm, then shake.",
+    "Grab the bottle for liquids carefully and shake.",
+    "Grab and shake the handheld bottle using the right arm.",
+    "Pick the yellow bottle, shake it with the right arm.",
+    "Lift the bottle with white cap with the right arm and shake it.",
+    "Lift the plastic bottle with the right arm and give it a shake.",
+    "Pick the yellow bottle with cylindrical cap and perform shaking motion.",
+    "Shake the smooth yellow plastic bottle using the right arm after grabbing.",
+    "With the right arm, pick the yellow bottle with cylindrical cap and shake properly.",
+    "Use the right arm to lift and shake the yellow bottle.",
+    "Use the right arm to grab the bottle with white cap and shake properly.",
+    "Hold and shake the the handheld bottle carefully.",
+    "Hold the handheld bottle steady, then shake it.",
+    "Shake the yellow bottle with cylindrical cap after grabbing it.",
+    "Shake the bottle with white cap after lifting it.",
+    "Hold the smooth yellow plastic bottle and shake it properly.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Grip the bottle with white cap using the right arm and shake.",
+    "Secure the smooth yellow plastic bottle and perform a shake.",
+    "Secure the yellow bottle with cylindrical cap, shake it, and place it down.",
+    "Hold the bottle with green and white label, shake it briefly.",
+    "Grab the bottle with green and white label firmly, shake it, and put it down.",
+    "Pick the bottle with white cap up using the right arm and shake it.",
+    "Pick up the plastic bottle and shake it well.",
+    "Use the right arm to grab the rectangular bottle and shake it.",
+    "Shake the bottle with green and white label after holding it firmly.",
+    "Using the right arm, shake the yellow bottle with green label and then place it back.",
+    "Shake the yellow bottle with cylindrical cap after grabbing it.",
+    "Pick the handheld bottle up with the right arm and shake.",
+    "Grab the bottle for liquids and move it to shake.",
+    "Use the right arm to lift and shake the bottle with white cap.",
+    "Lift the bottle with green and white label with the right arm and shake."
+  ],
+  "unseen": [
+    "Grab the medium bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with printed label.",
+    "Shake the medium bottle after picking it with the right arm.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Pick up the bottle with rounded edges with the right arm and shake.",
+    "Use the right arm to grab the bottle with rounded edges and shake.",
+    "Pick up the medium bottle and shake it.",
+    "Pick up the bottle with printed label and shake it.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Pick and shake the the bottle with rounded edges with the right arm.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with printed label.",
+    "Shake the bottle with printed label after picking it with the right arm.",
+    "Grab the medium bottle and shake it.",
+    "Pick up the bottle with rounded edges with the right arm and shake.",
+    "Use the right arm to grab the bottle with printed label and shake.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Pick up the bottle with printed label and shake it.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Pick and shake the the bottle with rounded edges with the right arm.",
+    "Grab the medium bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with rounded edges.",
+    "Shake the bottle with rounded edges after picking it with the right arm.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Pick up the medium bottle with the right arm and shake.",
+    "Use the right arm to grab the bottle with printed label and shake.",
+    "Pick up the bottle with printed label and shake it.",
+    "Pick up the bottle with printed label and shake it.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Pick and shake the the bottle with printed label with the right arm.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Use the right arm to pick the medium bottle.",
+    "Shake the medium bottle after picking it with the right arm.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick up the medium bottle with the right arm and shake.",
+    "Use the right arm to grab the medium bottle and shake.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Pick up the bottle with printed label and shake it.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Pick and shake the the bottle with rounded edges with the right arm.",
+    "Grab the medium bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the medium bottle.",
+    "Shake the bottle with rounded edges after picking it with the right arm.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Pick up the bottle with rounded edges with the right arm and shake.",
+    "Use the right arm to grab the medium bottle and shake.",
+    "Pick up the bottle with printed label and shake it.",
+    "Pick up the bottle with printed label and shake it.",
+    "Grab the medium bottle and give it a shake.",
+    "Pick and shake the the bottle with rounded edges with the right arm.",
+    "Grab the bottle with printed label, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with rounded edges.",
+    "Shake the bottle with printed label after picking it with the right arm.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Pick up the bottle with rounded edges with the right arm and shake.",
+    "Use the right arm to grab the bottle with printed label and shake.",
+    "Pick up the bottle with printed label and shake it.",
+    "Pick up the bottle with printed label and shake it.",
+    "Grab the medium bottle and give it a shake.",
+    "Pick and shake the the bottle with rounded edges with the right arm.",
+    "Grab the bottle with printed label, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with printed label.",
+    "Shake the bottle with printed label after picking it with the right arm.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick up the medium bottle with the right arm and shake.",
+    "Use the right arm to grab the bottle with rounded edges and shake.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Pick up the medium bottle and shake it.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Pick and shake the the bottle with rounded edges with the right arm.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with printed label.",
+    "Shake the bottle with rounded edges after picking it with the right arm.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick up the bottle with printed label with the right arm and shake.",
+    "Use the right arm to grab the bottle with printed label and shake.",
+    "Pick up the medium bottle and shake it.",
+    "Pick up the bottle with printed label and shake it.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Pick and shake the the bottle with printed label with the right arm.",
+    "Grab the medium bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the medium bottle.",
+    "Shake the medium bottle after picking it with the right arm.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Pick up the medium bottle with the right arm and shake.",
+    "Use the right arm to grab the bottle with printed label and shake.",
+    "Pick up the bottle with printed label and shake it.",
+    "Pick up the medium bottle and shake it.",
+    "Grab the medium bottle and give it a shake.",
+    "Pick and shake the the bottle with rounded edges with the right arm.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with printed label.",
+    "Shake the bottle with rounded edges after picking it with the right arm.",
+    "Grab the medium bottle and shake it.",
+    "Pick up the bottle with rounded edges with the right arm and shake.",
+    "Use the right arm to grab the bottle with printed label and shake.",
+    "Pick up the medium bottle and shake it.",
+    "Pick up the bottle with printed label and shake it.",
+    "Grab the medium bottle and give it a shake.",
+    "Pick and shake the the bottle with rounded edges with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007118.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007118.json
new file mode 100644
index 0000000000000000000000000000000000000000..29b1f2c71045588d30d54ce77bc0b94db6c8dbd9
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007118.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the smooth plastic bottle for beverages firmly, shake it, and put it down.",
+    "Take the brown bottle using the right arm and give it a shake.",
+    "Pick the brown bottle with white printed label and perform shaking motion.",
+    "Grab the hand-sized bottle with grooves and shake it steadily.",
+    "Shake the bottle with green cap after grabbing it.",
+    "Grab the bottle with tapered cylindrical shape and move it to shake.",
+    "Grab the bottle with green cap with the right arm and shake.",
+    "Grab the plastic bottle with ribbed pattern and give it a shake.",
+    "Pick the brown bottle with green screw-on cap, shake it with the right arm.",
+    "Grab the bottle with green cap carefully and shake.",
+    "Hold the bottle with tapered cylindrical shape and shake it properly.",
+    "Shake the smooth plastic bottle for beverages after holding it firmly.",
+    "Pick up the bottle with green cap and shake it well.",
+    "Hold the plastic bottle with ribbed pattern with the right arm and shake lightly.",
+    "Using the right arm, shake the brown bottle with green screw-on cap and then place it back.",
+    "Pick the bottle with green cap up with the right arm and shake.",
+    "Shake the bottle with green cap thoroughly after grabbing it.",
+    "Grab and shake the small brown plastic bottle using the right arm.",
+    "Utilize the right arm to hold the hand-sized bottle with grooves and shake it.",
+    "Shake the green-capped bottle after lifting it.",
+    "Lift the smooth plastic bottle for beverages with the right arm and give it a shake.",
+    "Shake the bottle with green cap after grabbing it.",
+    "Use the right arm to grab the hand-sized bottle with grooves and shake properly.",
+    "Shake the brown bottle after grabbing it.",
+    "Use the right arm to pick and shake the brown bottle with green screw-on cap.",
+    "Pick the green-capped bottle up using the right arm and shake it.",
+    "Grab the brown bottle with white printed label using the right arm, then shake.",
+    "Hold the smooth plastic bottle for beverages, shake it briefly.",
+    "Use the right arm to grab the small drink bottle with logo and shake it.",
+    "Lift the smooth plastic bottle for beverages and shake it thoroughly.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to lift and shake the brown bottle.",
+    "Grip the bottle with green cap using the right arm and shake.",
+    "Use the right arm to lift and shake the smooth plastic bottle for beverages.",
+    "Hold the smooth plastic bottle for beverages steady, then shake it.",
+    "Shake the bottle with tapered cylindrical shape using the right arm after grabbing.",
+    "Lift the cylindrical bottle with white label with the right arm and shake.",
+    "With the right arm, pick the small drink bottle with logo and shake properly.",
+    "Shake the plastic bottle with ribbed pattern firmly after grabbing.",
+    "Grasp the hand-sized bottle with grooves with the right arm and shake it.",
+    "Use the right arm to lift and shake the hand-sized bottle with grooves.",
+    "Lift the hand-sized bottle with grooves and shake it gently.",
+    "Use the right arm to hold the bottle with green cap and shake it.",
+    "Secure the smooth plastic bottle for beverages and perform a shake.",
+    "Lift the bottle with tapered cylindrical shape with the right arm and shake it.",
+    "Secure the bottle with green cap, shake it, and place it down.",
+    "Catch the small brown plastic bottle and shake it instantly.",
+    "Hold and shake the the hand-sized bottle with grooves carefully.",
+    "Shake the the brown bottle with white printed label properly after lifting.",
+    "Lift up the small drink bottle with logo using the right arm, then shake.",
+    "Grab the small brown plastic bottle firmly, shake it, and put it down.",
+    "Take the bottle with tapered cylindrical shape using the right arm and give it a shake.",
+    "Pick the brown bottle with white printed label and perform shaking motion.",
+    "Grab the small brown plastic bottle and shake it steadily.",
+    "Shake the smooth plastic bottle for beverages after grabbing it.",
+    "Grab the smooth plastic bottle for beverages and move it to shake.",
+    "Grab the small drink bottle with logo with the right arm and shake.",
+    "Grab the small drink bottle with logo and give it a shake.",
+    "Pick the bottle with tapered cylindrical shape, shake it with the right arm.",
+    "Grab the small drink bottle with logo carefully and shake.",
+    "Hold the hand-sized bottle with grooves and shake it properly.",
+    "Shake the hand-sized bottle with grooves after holding it firmly.",
+    "Pick up the bottle with green cap and shake it well.",
+    "Hold the smooth plastic bottle for beverages with the right arm and shake lightly.",
+    "Using the right arm, shake the cylindrical bottle with white label and then place it back.",
+    "Pick the hand-sized bottle with grooves up with the right arm and shake.",
+    "Shake the brown bottle with green screw-on cap thoroughly after grabbing it.",
+    "Grab and shake the cylindrical bottle with white label using the right arm.",
+    "Utilize the right arm to hold the cylindrical bottle with white label and shake it.",
+    "Shake the brown bottle with green screw-on cap after lifting it.",
+    "Lift the brown bottle with white printed label with the right arm and give it a shake.",
+    "Shake the bottle with tapered cylindrical shape after grabbing it.",
+    "Use the right arm to grab the small brown plastic bottle and shake properly.",
+    "Shake the green-capped bottle after grabbing it.",
+    "Use the right arm to pick and shake the brown bottle with green screw-on cap.",
+    "Pick the brown bottle with green screw-on cap up using the right arm and shake it.",
+    "Grab the bottle with tapered cylindrical shape using the right arm, then shake.",
+    "Hold the cylindrical bottle with white label, shake it briefly.",
+    "Use the right arm to grab the small drink bottle with logo and shake it.",
+    "Lift the plastic bottle with ribbed pattern and shake it thoroughly.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to lift and shake the plastic bottle with ribbed pattern.",
+    "Grip the cylindrical bottle with white label using the right arm and shake.",
+    "Use the right arm to lift and shake the plastic bottle with ribbed pattern.",
+    "Hold the hand-sized bottle with grooves steady, then shake it.",
+    "Shake the cylindrical bottle with white label using the right arm after grabbing.",
+    "Lift the brown bottle with green screw-on cap with the right arm and shake.",
+    "With the right arm, pick the bottle with green cap and shake properly.",
+    "Shake the small brown plastic bottle firmly after grabbing.",
+    "Grasp the cylindrical bottle with white label with the right arm and shake it.",
+    "Use the right arm to lift and shake the plastic bottle with ribbed pattern.",
+    "Lift the cylindrical bottle with white label and shake it gently.",
+    "Use the right arm to hold the small brown plastic bottle and shake it.",
+    "Secure the brown bottle and perform a shake.",
+    "Lift the green-capped bottle with the right arm and shake it.",
+    "Secure the small drink bottle with logo, shake it, and place it down.",
+    "Catch the smooth plastic bottle for beverages and shake it instantly.",
+    "Hold and shake the the small drink bottle with logo carefully.",
+    "Shake the the green-capped bottle properly after lifting.",
+    "Lift up the plastic bottle with ribbed pattern using the right arm, then shake."
+  ],
+  "unseen": [
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Shake the bottle with coffee-colored body after picking it with the right arm.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Use the right arm to grab the bottle with Starbucks logo on label and shake.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Grab the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Grab the bottle with coffee-colored body and give it a shake.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Pick and shake the the bottle with coffee-colored body with the right arm.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with coffee-colored body.",
+    "Use the right arm to grab the bottle with Starbucks logo on label and shake.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with coffee-colored body.",
+    "Use the right arm to grab the bottle with Starbucks logo on label and shake.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Pick up the plastic Starbucks bottle with the right arm and shake.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Shake the bottle with coffee-colored body after picking it with the right arm.",
+    "Grab the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Shake the bottle with coffee-colored body after picking it with the right arm.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Use the right arm to grab the bottle with Starbucks logo on label and shake.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Pick and shake the the bottle with coffee-colored body with the right arm.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with coffee-colored body.",
+    "Use the right arm to grab the bottle with Starbucks logo on label and shake.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Use the right arm to grab the bottle with Starbucks logo on label and shake.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Grab the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Use the right arm to grab the bottle with Starbucks logo on label and shake.",
+    "Grab the bottle with coffee-colored body and give it a shake.",
+    "Pick up the bottle with Starbucks logo on label and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007126.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007126.json
new file mode 100644
index 0000000000000000000000000000000000000000..a11c70e23aad3ad6e6823ec3ffd27d654b67c509
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007126.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Hold the smooth plastic bottle, shake it briefly.",
+    "Grab the cylindrical orange bottle with yellow top and shake it steadily.",
+    "Shake the yellow-capped plastic bottle thoroughly after grabbing it.",
+    "Hold the yellow-capped plastic bottle steady, then shake it.",
+    "Shake the plastic bottle with sealed yellow cap after lifting it.",
+    "Shake the the bottle with printed label properly after lifting.",
+    "Hold the bottle with narrow neck and shake it properly.",
+    "Catch the bottle with yellow cap and shake it instantly.",
+    "Use the right arm to lift and shake the smooth plastic bottle.",
+    "Grab and shake the plastic bottle with sealed yellow cap using the right arm.",
+    "Lift the orange bottle and shake it thoroughly.",
+    "Grab the orange bottle and move it to shake.",
+    "Lift up the cylindrical orange bottle with yellow top using the right arm, then shake.",
+    "Pick the bottle with printed label up using the right arm and shake it.",
+    "Use the right arm to hold the orange cylindrical bottle and shake it.",
+    "Use the right arm to pick and shake the bottle with yellow cap.",
+    "Pick up the plastic bottle and shake it.",
+    "Grasp the yellow-capped plastic bottle with the right arm and shake it.",
+    "Pick the yellow-capped plastic bottle and perform shaking motion.",
+    "Utilize the right arm to hold the plastic bottle and shake it.",
+    "Lift the smooth plastic bottle with the right arm and shake it.",
+    "Secure the plastic bottle with sealed yellow cap, shake it, and place it down.",
+    "Shake the smooth plastic bottle using the right arm after grabbing.",
+    "Grip the orange bottle using the right arm and shake.",
+    "Use the right arm to grab the yellow-capped plastic bottle and shake it.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Shake the orange bottle after grabbing it.",
+    "Use the right arm to lift and shake the plastic bottle with sealed yellow cap.",
+    "Pick up the medium-sized orange bottle and shake it well.",
+    "Grab the cylindrical orange bottle with yellow top carefully and shake.",
+    "Grab the bottle for liquids with the right arm and shake.",
+    "Take the bottle with yellow cap using the right arm and give it a shake.",
+    "Pick the cylindrical orange bottle with yellow top, shake it with the right arm.",
+    "Lift the plastic bottle with the right arm and shake.",
+    "Grab the medium-sized orange bottle and give it a shake.",
+    "Hold the orange cylindrical bottle with the right arm and shake lightly.",
+    "Use the right arm to grab the bottle with yellow cap and shake properly.",
+    "Secure the bottle for liquids and perform a shake.",
+    "Using the right arm, shake the bottle with yellow cap and then place it back.",
+    "Lift the smooth plastic bottle and shake it gently.",
+    "Grab the bottle with narrow neck using the right arm, then shake.",
+    "Shake the orange cylindrical bottle after grabbing it.",
+    "Shake the smooth plastic bottle after holding it firmly.",
+    "Pick the bottle for liquids up with the right arm and shake.",
+    "Lift the plastic bottle with the right arm and give it a shake.",
+    "With the right arm, pick the orange bottle and shake properly.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Hold and shake the the orange cylindrical bottle carefully.",
+    "Shake the yellow-capped plastic bottle firmly after grabbing.",
+    "Shake the bottle with printed label after grabbing it.",
+    "Hold the bottle with printed label, shake it briefly.",
+    "Grab the cylindrical orange bottle with yellow top and shake it steadily.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Hold the bottle for liquids steady, then shake it.",
+    "Shake the orange cylindrical bottle after lifting it.",
+    "Shake the the bottle with narrow neck properly after lifting.",
+    "Hold the bottle with printed label and shake it properly.",
+    "Catch the orange cylindrical bottle and shake it instantly.",
+    "Use the right arm to lift and shake the bottle with yellow cap.",
+    "Grab and shake the plastic bottle using the right arm.",
+    "Lift the bottle with yellow cap and shake it thoroughly.",
+    "Grab the orange cylindrical bottle and move it to shake.",
+    "Lift up the bottle with yellow cap using the right arm, then shake.",
+    "Pick the bottle with yellow cap up using the right arm and shake it.",
+    "Use the right arm to hold the cylindrical orange bottle with yellow top and shake it.",
+    "Use the right arm to pick and shake the bottle with yellow cap.",
+    "Pick up the bottle with printed label and shake it.",
+    "Grasp the bottle for liquids with the right arm and shake it.",
+    "Pick the orange cylindrical bottle and perform shaking motion.",
+    "Utilize the right arm to hold the orange cylindrical bottle and shake it.",
+    "Lift the bottle with printed label with the right arm and shake it.",
+    "Secure the cylindrical orange bottle with yellow top, shake it, and place it down.",
+    "Shake the plastic bottle with sealed yellow cap using the right arm after grabbing.",
+    "Grip the bottle with yellow cap using the right arm and shake.",
+    "Use the right arm to grab the smooth plastic bottle and shake it.",
+    "Grab the bottle with printed label firmly, shake it, and put it down.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Use the right arm to lift and shake the bottle with yellow cap.",
+    "Pick up the medium-sized orange bottle and shake it well.",
+    "Grab the bottle with printed label carefully and shake.",
+    "Grab the smooth plastic bottle with the right arm and shake.",
+    "Take the orange bottle using the right arm and give it a shake.",
+    "Pick the bottle with narrow neck, shake it with the right arm.",
+    "Lift the bottle with yellow cap with the right arm and shake.",
+    "Grab the orange bottle and give it a shake.",
+    "Hold the smooth plastic bottle with the right arm and shake lightly.",
+    "Use the right arm to grab the orange cylindrical bottle and shake properly.",
+    "Secure the cylindrical orange bottle with yellow top and perform a shake.",
+    "Using the right arm, shake the plastic bottle with sealed yellow cap and then place it back.",
+    "Lift the cylindrical orange bottle with yellow top and shake it gently.",
+    "Grab the bottle with yellow cap using the right arm, then shake.",
+    "Shake the orange bottle after grabbing it.",
+    "Shake the bottle for liquids after holding it firmly.",
+    "Pick the bottle with narrow neck up with the right arm and shake.",
+    "Lift the cylindrical orange bottle with yellow top with the right arm and give it a shake.",
+    "With the right arm, pick the bottle with yellow cap and shake properly.",
+    "Use the right arm to lift and shake the cylindrical orange bottle with yellow top.",
+    "Hold and shake the the bottle with printed label carefully.",
+    "Shake the bottle with narrow neck firmly after grabbing."
+  ],
+  "unseen": [
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Grab the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Grab the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Grab the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Shake the label-covered orange bottle after picking it with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007197.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007197.json
new file mode 100644
index 0000000000000000000000000000000000000000..e313d6062ae45ae462ae607efcb63f1c975c8d94
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007197.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the bottle with white printed label after grabbing it.",
+    "Lift the medium-sized green bottle with the right arm and shake.",
+    "Grab the medium-sized green bottle using the right arm, then shake.",
+    "Grab the handheld green bottle carefully and shake.",
+    "Hold the smooth green bottle with the right arm and shake lightly.",
+    "Pick the bottle with narrow top and perform shaking motion.",
+    "Hold the green bottle with indented base, shake it briefly.",
+    "Use the right arm to hold the bottle with white printed label and shake it.",
+    "Lift up the smooth green bottle using the right arm, then shake.",
+    "Pick up the bottle with rounded neck and shake it.",
+    "Lift the bottle with rounded neck with the right arm and shake it.",
+    "Grab the plastic bottle with the right arm and shake.",
+    "Hold the green bottle with indented base steady, then shake it.",
+    "Shake the smooth green bottle after holding it firmly.",
+    "Secure the smooth green bottle, shake it, and place it down.",
+    "Grab the plastic bottle and move it to shake.",
+    "Lift the medium-sized green bottle and shake it gently.",
+    "Using the right arm, shake the green bottle with indented base and then place it back.",
+    "Secure the smooth green plastic bottle and perform a shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Shake the smooth green bottle firmly after grabbing.",
+    "Lift the smooth green plastic bottle with the right arm and give it a shake.",
+    "Lift the bottle with rounded neck and shake it thoroughly.",
+    "Use the right arm to lift and shake the bottle with ridges near base.",
+    "Use the right arm to lift and shake the medium-sized green bottle.",
+    "Utilize the right arm to hold the bottle with rounded neck and shake it.",
+    "Grab and shake the handheld green bottle using the right arm.",
+    "Shake the smooth green plastic bottle thoroughly after grabbing it.",
+    "Pick the smooth green plastic bottle up using the right arm and shake it.",
+    "Grab the handheld green bottle and shake it steadily.",
+    "Grip the medium-sized green bottle using the right arm and shake.",
+    "Grab the green bottle with indented base firmly, shake it, and put it down.",
+    "Shake the medium green bottle with capped neck after lifting it.",
+    "Hold and shake the the medium green bottle carefully.",
+    "Use the right arm to grab the handheld green bottle and shake properly.",
+    "Catch the bottle with narrow top and shake it instantly.",
+    "Grasp the medium green bottle with capped neck with the right arm and shake it.",
+    "Use the right arm to pick and shake the green bottle with indented base.",
+    "Grab the medium-sized green bottle and give it a shake.",
+    "With the right arm, pick the medium green bottle with capped neck and shake properly.",
+    "Pick the smooth green bottle, shake it with the right arm.",
+    "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.",
+    "Shake the smooth green bottle using the right arm after grabbing.",
+    "Shake the the medium green bottle with capped neck properly after lifting.",
+    "Hold the medium green bottle and shake it properly.",
+    "Pick up the plastic bottle and shake it well.",
+    "Shake the medium-sized green bottle after grabbing it.",
+    "Use the right arm to grab the medium green bottle with capped neck and shake it.",
+    "Pick the bottle with ridges near base up with the right arm and shake.",
+    "Shake the medium green bottle after grabbing it.",
+    "Lift the green bottle with indented base with the right arm and shake.",
+    "Grab the plastic bottle using the right arm, then shake.",
+    "Grab the green bottle with indented base carefully and shake.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Pick the bottle with white printed label and perform shaking motion.",
+    "Hold the bottle with ridges near base, shake it briefly.",
+    "Use the right arm to hold the medium green bottle with capped neck and shake it.",
+    "Lift up the smooth green bottle using the right arm, then shake.",
+    "Pick up the bottle with white printed label and shake it.",
+    "Lift the green bottle with indented base with the right arm and shake it.",
+    "Grab the bottle with narrow top with the right arm and shake.",
+    "Hold the handheld green bottle steady, then shake it.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Secure the bottle with narrow top, shake it, and place it down.",
+    "Grab the bottle with white printed label and move it to shake.",
+    "Lift the medium-sized green bottle and shake it gently.",
+    "Using the right arm, shake the medium green bottle and then place it back.",
+    "Secure the smooth green plastic bottle and perform a shake.",
+    "Shake the medium-sized green bottle after grabbing it.",
+    "Shake the handheld green bottle firmly after grabbing.",
+    "Lift the bottle with narrow top with the right arm and give it a shake.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Use the right arm to lift and shake the bottle with narrow top.",
+    "Use the right arm to lift and shake the smooth green plastic bottle.",
+    "Utilize the right arm to hold the bottle with white printed label and shake it.",
+    "Grab and shake the handheld green bottle using the right arm.",
+    "Shake the handheld green bottle thoroughly after grabbing it.",
+    "Pick the bottle with narrow top up using the right arm and shake it.",
+    "Grab the medium green bottle and shake it steadily.",
+    "Grip the handheld green bottle using the right arm and shake.",
+    "Grab the bottle with narrow top firmly, shake it, and put it down.",
+    "Shake the medium green bottle after lifting it.",
+    "Hold and shake the the smooth green plastic bottle carefully.",
+    "Use the right arm to grab the green bottle with indented base and shake properly.",
+    "Catch the handheld green bottle and shake it instantly.",
+    "Grasp the smooth green bottle with the right arm and shake it.",
+    "Use the right arm to pick and shake the medium-sized green bottle.",
+    "Grab the bottle with narrow top and give it a shake.",
+    "With the right arm, pick the bottle with white printed label and shake properly.",
+    "Pick the medium-sized green bottle, shake it with the right arm.",
+    "Take the medium-sized green bottle using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the medium green bottle with capped neck.",
+    "Shake the medium green bottle with capped neck using the right arm after grabbing.",
+    "Shake the the bottle with rounded neck properly after lifting.",
+    "Hold the plastic bottle and shake it properly.",
+    "Pick up the bottle with ridges near base and shake it well.",
+    "Shake the bottle with narrow top after grabbing it.",
+    "Use the right arm to grab the bottle with ridges near base and shake it.",
+    "Pick the medium green bottle with capped neck up with the right arm and shake."
+  ],
+  "unseen": [
+    "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 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 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.",
+    "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 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 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 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.",
+    "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 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 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 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.",
+    "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 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 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.",
+    "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.",
+    "Grab the green bottle and shake it.",
+    "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 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 with white label.",
+    "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 right arm.",
+    "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 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 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.",
+    "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 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 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.",
+    "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.",
+    "Grab 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 with white label.",
+    "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.",
+    "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 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 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 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.",
+    "Grab 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 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.",
+    "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.",
+    "Grab the green plastic bottle with ridged bottom and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007290.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007290.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cf90cc38d691950cd4705c80aa9ab3198103c6c
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007290.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the medium plastic bottle using the right arm and give it a shake.",
+    "Shake the bottle with white cap thoroughly after grabbing it.",
+    "Lift the medium plastic bottle with the right arm and shake it.",
+    "Shake the medium plastic bottle after grabbing it.",
+    "Shake the plastic bottle with printed label using the right arm after grabbing.",
+    "Lift the rounded bottle with printed details and shake it gently.",
+    "Grab the medium plastic bottle using the right arm, then shake.",
+    "Using the right arm, shake the plastic bottle with printed label and then place it back.",
+    "Pick the cylindrical bottle with narrow neck up with the right arm and shake.",
+    "Use the right arm to hold the handheld brown bottle with white lid and shake it.",
+    "Hold the medium bottle with smooth texture steady, then shake it.",
+    "Shake the bottle with brown body and white top after grabbing it.",
+    "Lift up the bottle with dark brown color using the right arm, then shake.",
+    "Use the right arm to lift and shake the plastic bottle for liquids.",
+    "Grab the handheld brown bottle with white lid carefully and shake.",
+    "Catch the medium bottle with smooth texture and shake it instantly.",
+    "Grip the cylindrical bottle with narrow neck using the right arm and shake.",
+    "Hold the rounded bottle with printed details with the right arm and shake lightly.",
+    "Pick the bottle with brown body and white top, shake it with the right arm.",
+    "Lift the bottle with brown body and white top with the right arm and shake.",
+    "Grasp the plastic bottle for liquids with the right arm and shake it.",
+    "Hold and shake the the white-capped brown cylindrical bottle carefully.",
+    "Grab the medium plastic bottle firmly, shake it, and put it down.",
+    "Shake the bottle with white cap after lifting it.",
+    "Secure the white-capped brown cylindrical bottle, shake it, and place it down.",
+    "Shake the the handheld brown bottle with white lid properly after lifting.",
+    "Grab the smooth brown bottle and shake it steadily.",
+    "Pick the bottle with brown body and white top and perform shaking motion.",
+    "With the right arm, pick the smooth brown bottle and shake properly.",
+    "Use the right arm to grab the bottle with dark brown color and shake properly.",
+    "Shake the bottle with dark brown color after grabbing it.",
+    "Shake the bottle with brown body and white top firmly after grabbing.",
+    "Pick up the rounded bottle with printed details and shake it.",
+    "Utilize the right arm to hold the medium bottle with smooth texture and shake it.",
+    "Grab and shake the medium bottle with smooth texture using the right arm.",
+    "Use the right arm to pick and shake the bottle with dark brown color.",
+    "Pick the medium plastic bottle up using the right arm and shake it.",
+    "Lift the rounded bottle with printed details with the right arm and give it a shake.",
+    "Secure the bottle with white cap and perform a shake.",
+    "Grab the medium bottle with smooth texture and give it a shake.",
+    "Grab the handheld brown bottle with white lid with the right arm and shake.",
+    "Lift the plastic bottle for liquids and shake it thoroughly.",
+    "Use the right arm to lift and shake the bottle with white cap.",
+    "Use the right arm to lift and shake the plastic bottle with printed label.",
+    "Hold the bottle with white cap and shake it properly.",
+    "Grab the medium plastic bottle and move it to shake.",
+    "Hold the bottle with white cap, shake it briefly.",
+    "Pick up the medium plastic bottle and shake it well.",
+    "Shake the white-capped brown cylindrical bottle after holding it firmly.",
+    "Use the right arm to grab the cylindrical bottle with narrow neck and shake it.",
+    "Take the plastic bottle for liquids using the right arm and give it a shake.",
+    "Shake the bottle with dark brown color thoroughly after grabbing it.",
+    "Lift the medium bottle with smooth texture with the right arm and shake it.",
+    "Shake the white-capped brown cylindrical bottle after grabbing it.",
+    "Shake the rounded bottle with printed details using the right arm after grabbing.",
+    "Lift the white-capped brown cylindrical bottle and shake it gently.",
+    "Grab the medium plastic bottle using the right arm, then shake.",
+    "Using the right arm, shake the smooth brown bottle and then place it back.",
+    "Pick the bottle with dark brown color up with the right arm and shake.",
+    "Use the right arm to hold the bottle with dark brown color and shake it.",
+    "Hold the bottle with brown body and white top steady, then shake it.",
+    "Shake the cylindrical bottle with narrow neck after grabbing it.",
+    "Lift up the plastic bottle with printed label using the right arm, then shake.",
+    "Use the right arm to lift and shake the medium plastic bottle.",
+    "Grab the plastic bottle with printed label carefully and shake.",
+    "Catch the bottle with dark brown color and shake it instantly.",
+    "Grip the bottle with white cap using the right arm and shake.",
+    "Hold the smooth brown bottle with the right arm and shake lightly.",
+    "Pick the smooth brown bottle, shake it with the right arm.",
+    "Lift the rounded bottle with printed details with the right arm and shake.",
+    "Grasp the bottle with white cap with the right arm and shake it.",
+    "Hold and shake the the bottle with white cap carefully.",
+    "Grab the medium bottle with smooth texture firmly, shake it, and put it down.",
+    "Shake the bottle with white cap after lifting it.",
+    "Secure the rounded bottle with printed details, shake it, and place it down.",
+    "Shake the the rounded bottle with printed details properly after lifting.",
+    "Grab the handheld brown bottle with white lid and shake it steadily.",
+    "Pick the handheld brown bottle with white lid and perform shaking motion.",
+    "With the right arm, pick the white-capped brown cylindrical bottle and shake properly.",
+    "Use the right arm to grab the cylindrical bottle with narrow neck and shake properly.",
+    "Shake the rounded bottle with printed details after grabbing it.",
+    "Shake the rounded bottle with printed details firmly after grabbing.",
+    "Pick up the handheld brown bottle with white lid and shake it.",
+    "Utilize the right arm to hold the bottle with brown body and white top and shake it.",
+    "Grab and shake the medium bottle with smooth texture using the right arm.",
+    "Use the right arm to pick and shake the plastic bottle for liquids.",
+    "Pick the handheld brown bottle with white lid up using the right arm and shake it.",
+    "Lift the rounded bottle with printed details with the right arm and give it a shake.",
+    "Secure the medium bottle with smooth texture and perform a shake.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the medium bottle with smooth texture with the right arm and shake.",
+    "Lift the cylindrical bottle with narrow neck and shake it thoroughly.",
+    "Use the right arm to lift and shake the cylindrical bottle with narrow neck.",
+    "Use the right arm to lift and shake the plastic bottle for liquids.",
+    "Hold the white-capped brown cylindrical bottle and shake it properly.",
+    "Grab the cylindrical bottle with narrow neck and move it to shake.",
+    "Hold the smooth brown bottle, shake it briefly.",
+    "Pick up the cylindrical bottle with narrow neck and shake it well.",
+    "Shake the plastic bottle with printed label after holding it firmly.",
+    "Use the right arm to grab the cylindrical bottle with narrow neck and shake it."
+  ],
+  "unseen": [
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Grab the lightweight plastic 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.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "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.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Grab the brown cylindrical bottle with label 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.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the lightweight plastic 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.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Grab the lightweight plastic 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.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick up the lightweight plastic 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 lightweight plastic brown bottle with the right arm and shake.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007295.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007295.json
new file mode 100644
index 0000000000000000000000000000000000000000..43d80af4ea4183f959a31ea503db7a4dd68690bc
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007295.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bottle with green and white labels with the right arm and give it a shake.",
+    "Grab the yellow container with rounded edges and give it a shake.",
+    "Secure the bottle with green label and perform a shake.",
+    "Grasp the bottle with green label with the right arm and shake it.",
+    "Grab the yellow plastic bottle with white top firmly, shake it, and put it down.",
+    "Utilize the right arm to hold the yellow container with rounded edges and shake it.",
+    "Grab and shake the yellow bottle with a green design using the right arm.",
+    "Use the right arm to pick and shake the smooth bottle with rounded edges.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Lift the medium rectangular yellow bottle with the right arm and shake it.",
+    "Shake the bottle with green label firmly after grabbing.",
+    "Using the right arm, shake the bottle with green label and then place it back.",
+    "Use the right arm to grab the rectangular bottle with cylindrical neck and shake properly.",
+    "Shake the smooth bottle with rounded edges after grabbing it.",
+    "Lift up the yellow bottle using the right arm, then shake.",
+    "Shake the bottle with a smooth plastic body after grabbing it.",
+    "Use the right arm to hold the rectangular bottle with cylindrical neck and shake it.",
+    "Pick up the bottle with green and white labels and shake it well.",
+    "Hold the bottle with a smooth plastic body steady, then shake it.",
+    "Shake the smooth bottle with rounded edges using the right arm after grabbing.",
+    "Hold the rectangular bottle with cylindrical neck with the right arm and shake lightly.",
+    "Use the right arm to grab the yellow container with rounded edges and shake it.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Pick the rectangular bottle with cylindrical neck, shake it with the right arm.",
+    "Shake the yellow plastic bottle with white top after lifting it.",
+    "Grab the bottle with white cap carefully and shake.",
+    "Use the right arm to lift and shake the yellow bottle with a green design.",
+    "Catch the yellow container with rounded edges and shake it instantly.",
+    "Use the right arm to lift and shake the yellow container with rounded edges.",
+    "With the right arm, pick the rectangular bottle with cylindrical neck and shake properly.",
+    "Grab the plastic bottle with the right arm and shake.",
+    "Use the right arm to lift and shake the yellow plastic bottle with white top.",
+    "Take the medium rectangular yellow bottle using the right arm and give it a shake.",
+    "Shake the bottle with green and white labels after grabbing it.",
+    "Shake the rectangular bottle with cylindrical neck after holding it firmly.",
+    "Lift the smooth bottle with rounded edges and shake it thoroughly.",
+    "Hold the bottle with white cap, shake it briefly.",
+    "Hold and shake the the medium rectangular yellow bottle carefully.",
+    "Pick the bottle with white cap up using the right arm and shake it.",
+    "Pick the bottle with green and white labels and perform shaking motion.",
+    "Lift the bottle with a smooth plastic body and shake it gently.",
+    "Lift the bottle with green and white labels with the right arm and shake.",
+    "Grip the yellow bottle using the right arm and shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick the rectangular bottle with cylindrical neck up with the right arm and shake.",
+    "Secure the bottle with white cap, shake it, and place it down.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Grab the bottle with a smooth plastic body and move it to shake.",
+    "Grab the bottle with green and white labels using the right arm, then shake.",
+    "Hold the yellow plastic bottle with white top and shake it properly.",
+    "Lift the smooth bottle with rounded edges with the right arm and give it a shake.",
+    "Grab the plastic bottle and give it a shake.",
+    "Secure the smooth bottle with rounded edges and perform a shake.",
+    "Grasp the bottle with green and white labels with the right arm and shake it.",
+    "Grab the yellow bottle firmly, shake it, and put it down.",
+    "Utilize the right arm to hold the bottle with white cap and shake it.",
+    "Grab and shake the plastic bottle using the right arm.",
+    "Use the right arm to pick and shake the bottle with a smooth plastic body.",
+    "Shake the the rectangular bottle with cylindrical neck properly after lifting.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "Shake the medium rectangular yellow bottle firmly after grabbing.",
+    "Using the right arm, shake the yellow plastic bottle with white top and then place it back.",
+    "Use the right arm to grab the yellow plastic bottle with white top and shake properly.",
+    "Shake the yellow bottle after grabbing it.",
+    "Lift up the yellow container with rounded edges using the right arm, then shake.",
+    "Shake the bottle with white cap after grabbing it.",
+    "Use the right arm to hold the rectangular bottle with cylindrical neck and shake it.",
+    "Pick up the plastic bottle and shake it well.",
+    "Hold the yellow bottle steady, then shake it.",
+    "Shake the yellow plastic bottle with white top using the right arm after grabbing.",
+    "Hold the bottle with green label with the right arm and shake lightly.",
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Shake the yellow container with rounded edges thoroughly after grabbing it.",
+    "Pick the yellow plastic bottle with white top, shake it with the right arm.",
+    "Shake the yellow bottle with a green design after lifting it.",
+    "Grab the yellow container with rounded edges carefully and shake.",
+    "Use the right arm to lift and shake the medium rectangular yellow bottle.",
+    "Catch the medium rectangular yellow bottle and shake it instantly.",
+    "Use the right arm to lift and shake the yellow bottle.",
+    "With the right arm, pick the plastic bottle and shake properly.",
+    "Grab the plastic bottle with the right arm and shake.",
+    "Use the right arm to lift and shake the yellow plastic bottle with white top.",
+    "Take the yellow plastic bottle with white top using the right arm and give it a shake.",
+    "Shake the yellow container with rounded edges after grabbing it.",
+    "Shake the medium rectangular yellow bottle after holding it firmly.",
+    "Lift the bottle with green and white labels and shake it thoroughly.",
+    "Hold the bottle with white cap, shake it briefly.",
+    "Hold and shake the the yellow plastic bottle with white top carefully.",
+    "Pick the yellow plastic bottle with white top up using the right arm and shake it.",
+    "Pick the yellow bottle with a green design and perform shaking motion.",
+    "Lift the rectangular bottle with cylindrical neck and shake it gently.",
+    "Lift the yellow bottle with the right arm and shake.",
+    "Grip the bottle with a smooth plastic body using the right arm and shake.",
+    "Pick up the medium rectangular yellow bottle and shake it.",
+    "Pick the yellow plastic bottle with white top up with the right arm and shake.",
+    "Secure the yellow container with rounded edges, shake it, and place it down.",
+    "Grab the rectangular bottle with cylindrical neck and shake it steadily.",
+    "Grab the yellow bottle with a green design and move it to shake.",
+    "Grab the bottle with green label using the right arm, then shake.",
+    "Hold the yellow container with rounded edges and shake it properly."
+  ],
+  "unseen": [
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008063.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008063.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef433ccae8ea982ddee367dd5f8c6850fcd49a87
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008063.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift and shake the long thin bottle.",
+    "Lift up the plastic drink bottle using the right arm, then shake.",
+    "Use the right arm to pick and shake the brown bottle with red label.",
+    "Using the right arm, shake the Coca-Cola 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 bottle with white neck and red top and shake it.",
+    "Pick the bottle with ridges on bottom and perform shaking motion.",
+    "Grab the bottle with ridges on bottom with the right arm and shake.",
+    "Catch the dark drink bottle with logo and shake it instantly.",
+    "Secure the long thin bottle and perform a shake.",
+    "Pick the plastic drink bottle up using the right arm and shake it.",
+    "Pick the bottle with ridges on bottom up with the right arm and shake.",
+    "Grab the smooth bottle with red lid firmly, shake it, and put it down.",
+    "Shake the medium dark brown bottle using the right arm after grabbing.",
+    "Shake the plastic drink bottle after grabbing it.",
+    "Pick up the red-capped bottle and shake it.",
+    "Shake the brown bottle with red label after grabbing it.",
+    "Lift the plastic drink bottle with the right arm and shake it.",
+    "Hold and shake the the brown bottle with red label carefully.",
+    "Shake the the bottle with white neck and red top properly after lifting.",
+    "Use the right arm to hold the medium dark brown bottle and shake it.",
+    "Grab and shake the Coca-Cola bottle using the right arm.",
+    "Hold the dark drink bottle with logo with the right arm and shake lightly.",
+    "Lift the bottle with white neck and red top and shake it thoroughly.",
+    "Hold the narrow-necked bottle and shake it properly.",
+    "Lift the bottle with white neck and red top with the right arm and give it a shake.",
+    "Use the right arm to lift and shake the bottle with white neck and red top.",
+    "Grab the long thin bottle and give it a shake.",
+    "Grab the long thin bottle and shake it steadily.",
+    "Grab the hand-sized soda bottle using the right arm, then shake.",
+    "Grip the smooth bottle with red lid using the right arm and shake.",
+    "Use the right arm to grab the bottle with white neck and red top and shake properly.",
+    "Pick up the medium dark brown bottle and shake it well.",
+    "With the right arm, pick the red-capped bottle and shake properly.",
+    "Grab the bottle with white neck and red top carefully and shake.",
+    "Grab the narrow-necked bottle and move it to shake.",
+    "Shake the plastic drink bottle thoroughly after grabbing it.",
+    "Shake the brown bottle with red label firmly after grabbing.",
+    "Pick the bottle with white neck and red top, shake it with the right arm.",
+    "Shake the bottle with ridges on bottom after lifting it.",
+    "Shake the Coca-Cola bottle after holding it firmly.",
+    "Hold the dark drink bottle with logo, shake it briefly.",
+    "Lift the long thin bottle with the right arm and shake.",
+    "Hold the long thin bottle steady, then shake it.",
+    "Lift the plastic drink bottle and shake it gently.",
+    "Shake the smooth bottle with red lid after grabbing it.",
+    "Take the smooth bottle with red lid using the right arm and give it a shake.",
+    "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.",
+    "Use the right arm to lift and shake the medium dark brown bottle.",
+    "Use the right arm to lift and shake the medium dark brown bottle.",
+    "Lift up the brown bottle with red label using the right arm, then shake.",
+    "Use the right arm to pick and shake the bottle with white neck and red top.",
+    "Using the right arm, shake the narrow-necked bottle and then place it back.",
+    "Secure the brown bottle with red label, shake it, and place it down.",
+    "Utilize the right arm to hold the dark drink bottle with logo and shake it.",
+    "Pick the hand-sized soda bottle and perform shaking motion.",
+    "Grab the red-capped bottle with the right arm and shake.",
+    "Catch the bottle with ridges on bottom and shake it instantly.",
+    "Secure the smooth bottle with red lid and perform a shake.",
+    "Pick the plastic drink bottle up using the right arm and shake it.",
+    "Pick the smooth bottle with red lid up with the right arm and shake.",
+    "Grab the bottle with ridges on bottom firmly, shake it, and put it down.",
+    "Shake the dark drink bottle with logo using the right arm after grabbing.",
+    "Shake the Coca-Cola bottle after grabbing it.",
+    "Pick up the medium dark brown bottle and shake it.",
+    "Shake the hand-sized soda bottle after grabbing it.",
+    "Lift the long thin bottle with the right arm and shake it.",
+    "Hold and shake the the long thin bottle carefully.",
+    "Shake the the bottle with white neck and red top properly after lifting.",
+    "Use the right arm to hold the smooth bottle with red lid and shake it.",
+    "Grab and shake the bottle with ridges on bottom using the right arm.",
+    "Hold the brown bottle with red label with the right arm and shake lightly.",
+    "Lift the bottle with white neck and red top and shake it thoroughly.",
+    "Hold the Coca-Cola bottle and shake it properly.",
+    "Lift the dark drink bottle with logo with the right arm and give it a shake.",
+    "Use the right arm to lift and shake the medium dark brown bottle.",
+    "Grab the medium dark brown bottle and give it a shake.",
+    "Grab the bottle with white neck and red top and shake it steadily.",
+    "Grab the Coca-Cola bottle using the right arm, then shake.",
+    "Grip the red-capped bottle using the right arm and shake.",
+    "Use the right arm to grab the narrow-necked bottle and shake properly.",
+    "Pick up the red-capped bottle and shake it well.",
+    "With the right arm, pick the dark drink bottle with logo and shake properly.",
+    "Grab the long thin bottle carefully and shake.",
+    "Grab the brown bottle with red label and move it to shake.",
+    "Shake the bottle with white neck and red top thoroughly after grabbing it.",
+    "Shake the long thin bottle firmly after grabbing.",
+    "Pick the Coca-Cola bottle, shake it with the right arm.",
+    "Shake the bottle with white neck and red top after lifting it.",
+    "Shake the bottle with white neck and red top after holding it firmly.",
+    "Hold the plastic drink bottle, shake it briefly.",
+    "Lift the dark drink bottle with logo with the right arm and shake.",
+    "Hold the plastic drink bottle steady, then shake it.",
+    "Lift the medium dark brown bottle and shake it gently.",
+    "Shake the bottle with ridges on bottom after grabbing it.",
+    "Take the Coca-Cola bottle using the right arm and give it a shake.",
+    "Use the right arm to grab the bottle with ridges on bottom and shake it.",
+    "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 bottle with white neck and red top."
+  ],
+  "unseen": [
+    "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 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 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 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.",
+    "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.",
+    "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.",
+    "Pick up the plastic soda bottle with the right 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 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.",
+    "Shake the brown 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 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.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "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 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 plastic soda bottle and shake it.",
+    "Pick up the plastic soda bottle with the right arm 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 plastic soda bottle.",
+    "Use the right arm to grab the brown bottle 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.",
+    "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 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.",
+    "Grab the bottle with red screw cap and give it a 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.",
+    "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.",
+    "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 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 shake it.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "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.",
+    "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.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Grab 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.",
+    "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.",
+    "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 brown bottle and shake it.",
+    "Pick up the brown bottle with the right arm 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 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.",
+    "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 plastic soda bottle and shake it.",
+    "Pick up the plastic soda bottle with the right arm 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 plastic soda bottle.",
+    "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.",
+    "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.",
+    "Pick up the plastic soda bottle with the right 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 right arm to pick the brown bottle."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008076.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008076.json
new file mode 100644
index 0000000000000000000000000000000000000000..e113f39236e6ddcc9afdeeb13abb31ce586f14ba
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008076.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the plastic bottle and perform a shake.",
+    "Use the right arm to lift and shake the cylindrical orange plastic bottle.",
+    "Shake the light and medium-sized bottle after grabbing it.",
+    "Shake the medium bottle with colorful label using the right arm after grabbing.",
+    "Use the right arm to grab the orange drink bottle with label and shake properly.",
+    "Pick the orange drink bottle with label up with the right arm and shake.",
+    "Utilize the right arm to hold the medium bottle with colorful label and shake it.",
+    "Secure the medium bottle with colorful label, shake it, and place it down.",
+    "Shake the cylindrical orange plastic bottle firmly after grabbing.",
+    "Lift the smooth orange bottle and shake it thoroughly.",
+    "Using the right arm, shake the plastic bottle and then place it back.",
+    "Use the right arm to hold the ridged orange bottle with grooves and shake it.",
+    "Hold the orange bottle with the right arm and shake lightly.",
+    "Lift the cylindrical orange plastic bottle with the right arm and shake.",
+    "Hold the orange drink bottle with label and shake it properly.",
+    "Use the right arm to lift and shake the cylindrical orange plastic bottle.",
+    "Shake the orange bottle after grabbing it.",
+    "Grab the bottle for holding drinks firmly, shake it, and put it down.",
+    "Grab and shake the orange drink bottle with label using the right arm.",
+    "Hold the round-bottom bottle with white cap steady, then shake it.",
+    "Pick up the orange drink bottle with label and shake it well.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Use the right arm to lift and shake the medium bottle with colorful label.",
+    "Shake the medium bottle with colorful label after lifting it.",
+    "Grab the smooth orange bottle and give it a shake.",
+    "Pick the smooth orange bottle, shake it with the right arm.",
+    "Pick up the bottle for holding drinks and shake it.",
+    "Shake the cylindrical orange plastic bottle after grabbing it.",
+    "Lift the light and medium-sized bottle with the right arm and shake it.",
+    "Shake the the orange drink bottle with label properly after lifting.",
+    "Shake the bottle for holding drinks after holding it firmly.",
+    "Take the smooth orange bottle using the right arm and give it a shake.",
+    "Lift up the cylindrical orange plastic bottle using the right arm, then shake.",
+    "Hold the medium bottle with colorful label, shake it briefly.",
+    "Shake the cylindrical orange plastic bottle thoroughly after grabbing it.",
+    "Grab the medium bottle with colorful label and shake it steadily.",
+    "Lift the round-bottom bottle with white cap with the right arm and give it a shake.",
+    "Grasp the medium bottle with colorful label with the right arm and shake it.",
+    "Grab the bottle for holding drinks carefully and shake.",
+    "Pick the orange drink bottle with label and perform shaking motion.",
+    "Hold and shake the the ridged orange bottle with grooves carefully.",
+    "Lift the grooved orange drink bottle and shake it gently.",
+    "With the right arm, pick the cylindrical orange plastic bottle and shake properly.",
+    "Grip the ridged orange bottle with grooves using the right arm and shake.",
+    "Pick the light and medium-sized bottle up using the right arm and shake it.",
+    "Grab the orange drink bottle with label using the right arm, then shake.",
+    "Use the right arm to pick and shake the light and medium-sized bottle.",
+    "Grab the orange drink bottle with label with the right arm and shake.",
+    "Use the right arm to grab the medium bottle with colorful label and shake it.",
+    "Grab the grooved orange drink bottle and move it to shake.",
+    "Secure the plastic bottle and perform a shake.",
+    "Use the right arm to lift and shake the curved orange soda bottle.",
+    "Shake the ridged orange bottle with grooves after grabbing it.",
+    "Shake the grooved orange drink bottle using the right arm after grabbing.",
+    "Use the right arm to grab the bottle for holding drinks and shake properly.",
+    "Pick the bottle for holding drinks up with the right arm and shake.",
+    "Utilize the right arm to hold the orange bottle and shake it.",
+    "Secure the orange bottle, shake it, and place it down.",
+    "Shake the smooth orange bottle firmly after grabbing.",
+    "Lift the light and medium-sized bottle and shake it thoroughly.",
+    "Using the right arm, shake the smooth orange bottle and then place it back.",
+    "Use the right arm to hold the round-bottom bottle with white cap and shake it.",
+    "Hold the ridged orange bottle with grooves with the right arm and shake lightly.",
+    "Lift the orange drink bottle with label with the right arm and shake.",
+    "Hold the curved orange soda bottle and shake it properly.",
+    "Use the right arm to lift and shake the ridged orange bottle with grooves.",
+    "Shake the orange bottle after grabbing it.",
+    "Grab the grooved orange drink bottle firmly, shake it, and put it down.",
+    "Grab and shake the smooth orange bottle using the right arm.",
+    "Hold the round-bottom bottle with white cap steady, then shake it.",
+    "Pick up the light and medium-sized bottle and shake it well.",
+    "Catch the smooth orange bottle and shake it instantly.",
+    "Use the right arm to lift and shake the orange bottle.",
+    "Shake the orange drink bottle with label after lifting it.",
+    "Grab the grooved orange drink bottle and give it a shake.",
+    "Pick the medium bottle with colorful label, shake it with the right arm.",
+    "Pick up the curved orange soda bottle and shake it.",
+    "Shake the orange drink bottle with label after grabbing it.",
+    "Lift the bottle for holding drinks with the right arm and shake it.",
+    "Shake the the curved orange soda bottle properly after lifting.",
+    "Shake the orange drink bottle with label after holding it firmly.",
+    "Take the medium bottle with colorful label using the right arm and give it a shake.",
+    "Lift up the orange bottle using the right arm, then shake.",
+    "Hold the curved orange soda bottle, shake it briefly.",
+    "Shake the cylindrical orange plastic bottle thoroughly after grabbing it.",
+    "Grab the ridged orange bottle with grooves and shake it steadily.",
+    "Lift the round-bottom bottle with white cap with the right arm and give it a shake.",
+    "Grasp the round-bottom bottle with white cap with the right arm and shake it.",
+    "Grab the medium bottle with colorful label carefully and shake.",
+    "Pick the bottle for holding drinks and perform shaking motion.",
+    "Hold and shake the the orange drink bottle with label carefully.",
+    "Lift the grooved orange drink bottle and shake it gently.",
+    "With the right arm, pick the smooth orange bottle and shake properly.",
+    "Grip the round-bottom bottle with white cap using the right arm and shake.",
+    "Pick the ridged orange bottle with grooves up using the right arm and shake it.",
+    "Grab the plastic bottle using the right arm, then shake.",
+    "Use the right arm to pick and shake the bottle for holding drinks.",
+    "Grab the orange drink bottle with label with the right arm and shake.",
+    "Use the right arm to grab the smooth orange bottle and shake it.",
+    "Grab the smooth orange bottle and move it to shake."
+  ],
+  "unseen": [
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick and shake the the bottle with white cap with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008086.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008086.json
new file mode 100644
index 0000000000000000000000000000000000000000..434fe07adc0b411ba4da299d840d87928cd176a3
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008086.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to pick and shake the bottle with ribbed orange bottom.",
+    "Grab the medium bottle with orange lid and shake it steadily.",
+    "Pick up the plastic bottle and shake it well.",
+    "Hold the orange and white bottle with cap with the right arm and shake lightly.",
+    "Shake the the medium bottle with orange lid properly after lifting.",
+    "Grasp the drinking bottle with yellow label with the right arm and shake it.",
+    "Catch the medium orange bottle and shake it instantly.",
+    "Lift up the orange bottle using the right arm, then shake.",
+    "Grab the yellow label bottle carefully and shake.",
+    "Pick the drinking bottle with yellow label and perform shaking motion.",
+    "Grab the medium orange bottle and move it to shake.",
+    "Secure the bottle with ribbed orange bottom, shake it, and place it down.",
+    "Shake the white and orange plastic bottle firmly after grabbing.",
+    "Hold and shake the the bottle with orange cap carefully.",
+    "Lift the plastic bottle with the right arm and shake.",
+    "Hold the white and orange plastic bottle and shake it properly.",
+    "Pick the orange bottle, shake it with the right arm.",
+    "Hold the cylindrical orange and white bottle, shake it briefly.",
+    "Lift the medium orange bottle and shake it thoroughly.",
+    "Grab the orange bottle with the right arm and shake.",
+    "Secure the orange and white bottle with cap and perform a shake.",
+    "Lift the medium orange bottle and shake it gently.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Use the right arm to hold the orange and white bottle with cap and shake it.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Use the right arm to grab the medium orange bottle and shake it.",
+    "Grab the smooth plastic bottle using the right arm, then shake.",
+    "Shake the drinking bottle with yellow label after holding it firmly.",
+    "Shake the bottle with ribbed orange bottom using the right arm after grabbing.",
+    "Grab and shake the orange bottle using the right arm.",
+    "Use the right arm to grab the cylindrical orange and white bottle and shake properly.",
+    "Hold the bottle with ribbed orange bottom steady, then shake it.",
+    "Utilize the right arm to hold the bottle with ribbed orange bottom and shake it.",
+    "Use the right arm to lift and shake the medium bottle with orange lid.",
+    "With the right arm, pick the drinking bottle with yellow label and shake properly.",
+    "Using the right arm, shake the cylindrical orange and white bottle and then place it back.",
+    "Grab the bottle with orange cap firmly, shake it, and put it down.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Shake the yellow label bottle after grabbing it.",
+    "Shake the medium bottle with orange lid after lifting it.",
+    "Lift the yellow label bottle with the right arm and give it a shake.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "Grab the medium bottle with orange lid and give it a shake.",
+    "Pick the bottle with ribbed orange bottom up with the right arm and shake.",
+    "Take the drinking bottle with yellow label using the right arm and give it a shake.",
+    "Shake the cylindrical orange and white bottle after grabbing it.",
+    "Use the right arm to lift and shake the cylindrical orange and white bottle.",
+    "Grip the yellow label bottle using the right arm and shake.",
+    "Pick the cylindrical orange and white bottle up using the right arm and shake it.",
+    "Shake the medium orange bottle thoroughly after grabbing it.",
+    "Use the right arm to pick and shake the medium bottle with orange lid.",
+    "Grab the orange bottle and shake it steadily.",
+    "Pick up the orange and white bottle with cap and shake it well.",
+    "Hold the orange bottle with the right arm and shake lightly.",
+    "Shake the the white and orange plastic bottle properly after lifting.",
+    "Grasp the medium bottle with orange lid with the right arm and shake it.",
+    "Catch the drinking bottle with yellow label and shake it instantly.",
+    "Lift up the smooth plastic bottle using the right arm, then shake.",
+    "Grab the medium orange bottle carefully and shake.",
+    "Pick the drinking bottle with yellow label and perform shaking motion.",
+    "Grab the medium bottle with orange lid and move it to shake.",
+    "Secure the cylindrical orange and white bottle, shake it, and place it down.",
+    "Shake the smooth plastic bottle firmly after grabbing.",
+    "Hold and shake the the white and orange plastic bottle carefully.",
+    "Lift the orange bottle with the right arm and shake.",
+    "Hold the drinking bottle with yellow label and shake it properly.",
+    "Pick the orange and white bottle with cap, shake it with the right arm.",
+    "Hold the orange bottle, shake it briefly.",
+    "Lift the orange bottle and shake it thoroughly.",
+    "Grab the smooth plastic bottle with the right arm and shake.",
+    "Secure the orange bottle and perform a shake.",
+    "Lift the medium orange bottle and shake it gently.",
+    "Pick up the orange bottle and shake it.",
+    "Use the right arm to hold the white and orange plastic bottle and shake it.",
+    "Shake the bottle with orange cap after grabbing it.",
+    "Use the right arm to grab the bottle with ribbed orange bottom and shake it.",
+    "Grab the orange and white bottle with cap using the right arm, then shake.",
+    "Shake the orange bottle after holding it firmly.",
+    "Shake the bottle with ribbed orange bottom using the right arm after grabbing.",
+    "Grab and shake the orange bottle using the right arm.",
+    "Use the right arm to grab the yellow label bottle and shake properly.",
+    "Hold the orange bottle steady, then shake it.",
+    "Utilize the right arm to hold the plastic bottle and shake it.",
+    "Use the right arm to lift and shake the medium bottle with orange lid.",
+    "With the right arm, pick the medium orange bottle and shake properly.",
+    "Using the right arm, shake the smooth plastic bottle and then place it back.",
+    "Grab the cylindrical orange and white bottle firmly, shake it, and put it down.",
+    "Use the right arm to lift and shake the bottle with ribbed orange bottom.",
+    "Shake the orange bottle after grabbing it.",
+    "Shake the white and orange plastic bottle after lifting it.",
+    "Lift the orange and white bottle with cap with the right arm and give it a shake.",
+    "Lift the cylindrical orange and white bottle with the right arm and shake it.",
+    "Grab the yellow label bottle and give it a shake.",
+    "Pick the orange and white bottle with cap up with the right arm and shake.",
+    "Take the orange bottle using the right arm and give it a shake.",
+    "Shake the bottle with orange cap after grabbing it.",
+    "Use the right arm to lift and shake the orange bottle.",
+    "Grip the smooth plastic bottle using the right arm and shake.",
+    "Pick the cylindrical orange and white bottle up using the right arm and shake it.",
+    "Shake the orange and white bottle with cap thoroughly after grabbing it."
+  ],
+  "unseen": [
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008190.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008190.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeb22677053da0333876a05ce6c9242b42e4d39c
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008190.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth orange bottle with the left arm and shake it.",
+    "Use the left arm to hold the grooved orange drink bottle and shake it.",
+    "Shake the grooved orange drink bottle after grabbing it.",
+    "Use the left arm to pick and shake the smooth orange bottle.",
+    "Pick the orange drink bottle with label up with the left arm and shake.",
+    "Secure the plastic bottle and perform a shake.",
+    "Shake the medium bottle with colorful label after grabbing it.",
+    "Grab the plastic bottle using the left arm, then shake.",
+    "Shake the the orange drink bottle with label properly after lifting.",
+    "Hold the medium bottle with colorful label with the left arm and shake lightly.",
+    "Secure the light and medium-sized bottle, shake it, and place it down.",
+    "Grab the orange bottle carefully and shake.",
+    "Hold the bottle for holding drinks, shake it briefly.",
+    "Use the left arm to lift and shake the smooth orange bottle.",
+    "Grab the orange drink bottle with label and shake it steadily.",
+    "Grab the smooth orange bottle firmly, shake it, and put it down.",
+    "Hold and shake the the smooth orange bottle carefully.",
+    "Shake the smooth orange bottle using the left arm after grabbing.",
+    "Grab the medium bottle with colorful label and give it a shake.",
+    "Grasp the orange drink bottle with label with the left arm and shake it.",
+    "With the left arm, pick the light and medium-sized bottle and shake properly.",
+    "Pick the curved orange soda bottle and perform shaking motion.",
+    "Pick up the round-bottom bottle with white cap and shake it.",
+    "Grab and shake the cylindrical orange plastic bottle using the left arm.",
+    "Take the cylindrical orange plastic bottle using the left arm and give it a shake.",
+    "Lift the light and medium-sized bottle with the left arm and shake.",
+    "Lift up the bottle for holding drinks using the left arm, then shake.",
+    "Lift the medium bottle with colorful label with the left arm and give it a shake.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "Shake the smooth orange bottle firmly after grabbing.",
+    "Use the left arm to lift and shake the smooth orange bottle.",
+    "Grab the grooved orange drink bottle with the left arm and shake.",
+    "Grip the orange drink bottle with label using the left arm and shake.",
+    "Use the left arm to lift and shake the ridged orange bottle with grooves.",
+    "Shake the light and medium-sized bottle after holding it firmly.",
+    "Grab the smooth orange bottle and move it to shake.",
+    "Hold the medium bottle with colorful label steady, then shake it.",
+    "Shake the medium bottle with colorful label after grabbing it.",
+    "Lift the orange drink bottle with label and shake it thoroughly.",
+    "Shake the round-bottom bottle with white cap after lifting it.",
+    "Utilize the left arm to hold the orange drink bottle with label and shake it.",
+    "Pick up the curved orange soda bottle and shake it well.",
+    "Hold the cylindrical orange plastic bottle and shake it properly.",
+    "Pick the plastic bottle up using the left arm and shake it.",
+    "Shake the bottle for holding drinks thoroughly after grabbing it.",
+    "Use the left arm to grab the curved orange soda bottle and shake it.",
+    "Use the left arm to grab the round-bottom bottle with white cap and shake properly.",
+    "Pick the orange bottle, shake it with the left arm.",
+    "Lift the light and medium-sized bottle and shake it gently.",
+    "Catch the orange bottle and shake it instantly.",
+    "Lift the curved orange soda bottle with the left arm and shake it.",
+    "Use the left arm to hold the grooved orange drink bottle and shake it.",
+    "Shake the orange bottle after grabbing it.",
+    "Use the left arm to pick and shake the smooth orange bottle.",
+    "Pick the medium bottle with colorful label up with the left arm and shake.",
+    "Secure the bottle for holding drinks and perform a shake.",
+    "Shake the grooved orange drink bottle after grabbing it.",
+    "Grab the bottle for holding drinks using the left arm, then shake.",
+    "Shake the the smooth orange bottle properly after lifting.",
+    "Hold the grooved orange drink bottle with the left arm and shake lightly.",
+    "Secure the orange bottle, shake it, and place it down.",
+    "Grab the bottle for holding drinks carefully and shake.",
+    "Hold the grooved orange drink bottle, shake it briefly.",
+    "Use the left arm to lift and shake the medium bottle with colorful label.",
+    "Grab the orange drink bottle with label and shake it steadily.",
+    "Grab the light and medium-sized bottle firmly, shake it, and put it down.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Shake the grooved orange drink bottle using the left arm after grabbing.",
+    "Grab the round-bottom bottle with white cap and give it a shake.",
+    "Grasp the orange bottle with the left arm and shake it.",
+    "With the left arm, pick the ridged orange bottle with grooves and shake properly.",
+    "Pick the ridged orange bottle with grooves and perform shaking motion.",
+    "Pick up the bottle for holding drinks and shake it.",
+    "Grab and shake the bottle for holding drinks using the left arm.",
+    "Take the ridged orange bottle with grooves using the left arm and give it a shake.",
+    "Lift the round-bottom bottle with white cap with the left arm and shake.",
+    "Lift up the plastic bottle using the left arm, then shake.",
+    "Lift the plastic bottle with the left arm and give it a shake.",
+    "Using the left arm, shake the round-bottom bottle with white cap and then place it back.",
+    "Shake the grooved orange drink bottle firmly after grabbing.",
+    "Use the left arm to lift and shake the smooth orange bottle.",
+    "Grab the plastic bottle with the left arm and shake.",
+    "Grip the ridged orange bottle with grooves using the left arm and shake.",
+    "Use the left arm to lift and shake the bottle for holding drinks.",
+    "Shake the cylindrical orange plastic bottle after holding it firmly.",
+    "Grab the round-bottom bottle with white cap and move it to shake.",
+    "Hold the orange bottle steady, then shake it.",
+    "Shake the light and medium-sized bottle after grabbing it.",
+    "Lift the smooth orange bottle and shake it thoroughly.",
+    "Shake the curved orange soda bottle after lifting it.",
+    "Utilize the left arm to hold the cylindrical orange plastic bottle and shake it.",
+    "Pick up the orange bottle and shake it well.",
+    "Hold the orange drink bottle with label and shake it properly.",
+    "Pick the medium bottle with colorful label up using the left arm and shake it.",
+    "Shake the curved orange soda bottle thoroughly after grabbing it.",
+    "Use the left arm to grab the orange drink bottle with label and shake it.",
+    "Use the left arm to grab the plastic bottle and shake properly.",
+    "Pick the round-bottom bottle with white cap, shake it with the left arm.",
+    "Lift the smooth orange bottle and shake it gently.",
+    "Catch the plastic bottle and shake it instantly."
+  ],
+  "unseen": [
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick and shake the the bottle with ridged orange grip with the left arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the left arm to grab the white capped orange plastic bottle and shake.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the left arm to grab the white capped orange plastic bottle and shake.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the left arm to grab the white capped orange plastic bottle and shake.",
+    "Pick and shake the the bottle with ridged orange grip with the left arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the left arm to grab the white capped orange plastic bottle and shake.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Use the left arm to grab the white capped orange plastic bottle and shake.",
+    "Pick and shake the the bottle with ridged orange grip with the left arm.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick and shake the the bottle with ridged orange grip with the left arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the left arm to pick the bottle with ridged orange grip."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008192.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008192.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a4580bb61dd6b7d6a79b614675b8d085dfdb2eb
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008192.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the bottle with white cap up with the right arm and shake.",
+    "Lift the white-capped brown cylindrical bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the medium bottle with smooth texture.",
+    "With the right arm, pick the rounded bottle with printed details and shake properly.",
+    "Lift the handheld brown bottle with white lid with the right arm and give it a shake.",
+    "Secure the plastic bottle with printed label and perform a shake.",
+    "Grab the white-capped brown cylindrical bottle carefully and shake.",
+    "Pick up the bottle with brown body and white top and shake it well.",
+    "Shake the bottle with brown body and white top after holding it firmly.",
+    "Use the right arm to pick and shake the medium bottle with smooth texture.",
+    "Grasp the plastic bottle with printed label with the right arm and shake it.",
+    "Use the right arm to lift and shake the bottle with white cap.",
+    "Lift up the smooth brown bottle using the right arm, then shake.",
+    "Grab the medium plastic bottle and give it a shake.",
+    "Shake the the plastic bottle for liquids properly after lifting.",
+    "Secure the rounded bottle with printed details, shake it, and place it down.",
+    "Shake the bottle with white cap after lifting it.",
+    "Lift the plastic bottle for liquids and shake it thoroughly.",
+    "Hold the plastic bottle with printed label, shake it briefly.",
+    "Grip the plastic bottle with printed label using the right arm and shake.",
+    "Hold the rounded bottle with printed details with the right arm and shake lightly.",
+    "Use the right arm to lift and shake the white-capped brown cylindrical bottle.",
+    "Grab the bottle with brown body and white top and shake it steadily.",
+    "Use the right arm to grab the bottle with brown body and white top and shake it.",
+    "Grab the plastic bottle for liquids and move it to shake.",
+    "Catch the medium bottle with smooth texture and shake it instantly.",
+    "Grab and shake the smooth brown bottle using the right arm.",
+    "Pick the white-capped brown cylindrical bottle, shake it with the right arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Using the right arm, shake the white-capped brown cylindrical bottle and then place it back.",
+    "Shake the cylindrical bottle with narrow neck firmly after grabbing.",
+    "Hold and shake the the cylindrical bottle with narrow neck carefully.",
+    "Use the right arm to hold the bottle with white cap and shake it.",
+    "Use the right arm to grab the plastic bottle with printed label and shake properly.",
+    "Pick the plastic bottle with printed label up using the right arm and shake it.",
+    "Shake the bottle with white cap after grabbing it.",
+    "Grab the white-capped brown cylindrical bottle using the right arm, then shake.",
+    "Utilize the right arm to hold the bottle with white cap and shake it.",
+    "Hold the cylindrical bottle with narrow neck and shake it properly.",
+    "Lift the medium plastic bottle and shake it gently.",
+    "Shake the medium bottle with smooth texture thoroughly after grabbing it.",
+    "Grab the white-capped brown cylindrical bottle with the right arm and shake.",
+    "Shake the bottle with brown body and white top using the right arm after grabbing.",
+    "Lift the medium plastic bottle with the right arm and shake.",
+    "Hold the plastic bottle with printed label steady, then shake it.",
+    "Shake the handheld brown bottle with white lid after grabbing it.",
+    "Pick the plastic bottle with printed label and perform shaking motion.",
+    "Grab the rounded bottle with printed details firmly, shake it, and put it down.",
+    "Shake the white-capped brown cylindrical bottle after grabbing it.",
+    "Take the bottle with brown body and white top using the right arm and give it a shake.",
+    "Pick the cylindrical bottle with narrow neck up with the right arm and shake.",
+    "Lift the cylindrical bottle with narrow neck with the right arm and shake it.",
+    "Use the right arm to lift and shake the plastic bottle for liquids.",
+    "With the right arm, pick the handheld brown bottle with white lid and shake properly.",
+    "Lift the bottle with dark brown color with the right arm and give it a shake.",
+    "Secure the bottle with white cap and perform a shake.",
+    "Grab the handheld brown bottle with white lid carefully and shake.",
+    "Pick up the medium plastic bottle and shake it well.",
+    "Shake the medium bottle with smooth texture after holding it firmly.",
+    "Use the right arm to pick and shake the plastic bottle for liquids.",
+    "Grasp the bottle with white cap with the right arm and shake it.",
+    "Use the right arm to lift and shake the handheld brown bottle with white lid.",
+    "Lift up the smooth brown bottle using the right arm, then shake.",
+    "Grab the cylindrical bottle with narrow neck and give it a shake.",
+    "Shake the the white-capped brown cylindrical bottle properly after lifting.",
+    "Secure the handheld brown bottle with white lid, shake it, and place it down.",
+    "Shake the medium bottle with smooth texture after lifting it.",
+    "Lift the plastic bottle with printed label and shake it thoroughly.",
+    "Hold the plastic bottle with printed label, shake it briefly.",
+    "Grip the medium plastic bottle using the right arm and shake.",
+    "Hold the medium plastic bottle with the right arm and shake lightly.",
+    "Use the right arm to lift and shake the handheld brown bottle with white lid.",
+    "Grab the rounded bottle with printed details and shake it steadily.",
+    "Use the right arm to grab the bottle with white cap and shake it.",
+    "Grab the bottle with white cap and move it to shake.",
+    "Catch the bottle with dark brown color and shake it instantly.",
+    "Grab and shake the plastic bottle with printed label using the right arm.",
+    "Pick the bottle with brown body and white top, shake it with the right arm.",
+    "Pick up the white-capped brown cylindrical bottle and shake it.",
+    "Using the right arm, shake the rounded bottle with printed details and then place it back.",
+    "Shake the rounded bottle with printed details firmly after grabbing.",
+    "Hold and shake the the smooth brown bottle carefully.",
+    "Use the right arm to hold the bottle with white cap and shake it.",
+    "Use the right arm to grab the handheld brown bottle with white lid and shake properly.",
+    "Pick the plastic bottle for liquids up using the right arm and shake it.",
+    "Shake the medium bottle with smooth texture after grabbing it.",
+    "Grab the white-capped brown cylindrical bottle using the right arm, then shake.",
+    "Utilize the right arm to hold the handheld brown bottle with white lid and shake it.",
+    "Hold the cylindrical bottle with narrow neck and shake it properly.",
+    "Lift the medium plastic bottle and shake it gently.",
+    "Shake the medium plastic bottle thoroughly after grabbing it.",
+    "Grab the bottle with brown body and white top with the right arm and shake.",
+    "Shake the bottle with brown body and white top using the right arm after grabbing.",
+    "Lift the medium plastic bottle with the right arm and shake.",
+    "Hold the plastic bottle with printed label steady, then shake it.",
+    "Shake the bottle with dark brown color after grabbing it.",
+    "Pick the rounded bottle with printed details and perform shaking motion.",
+    "Grab the medium plastic bottle firmly, shake it, and put it down.",
+    "Shake the handheld brown bottle with white lid after grabbing it.",
+    "Take the medium bottle with smooth texture using the right arm and give it a shake."
+  ],
+  "unseen": [
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the lightweight plastic brown bottle 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 brown bottle and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Pick up the lightweight plastic brown 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.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the lightweight plastic brown 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.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick up the brown cylindrical bottle with label 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.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Shake the lightweight plastic 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 brown cylindrical bottle with label and shake.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Use the right arm to pick the brown bottle."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008218.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008218.json
new file mode 100644
index 0000000000000000000000000000000000000000..d127fd6e6db72397fe42e086fe82aa3850a5e93d
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008218.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift and shake the bottle with white cap.",
+    "Grab and shake the yellow bottle using the left arm.",
+    "Hold and shake the the rectangular bottle with cylindrical neck carefully.",
+    "Grab the yellow bottle with a green design and move it to shake.",
+    "Shake the bottle with green and white labels after grabbing it.",
+    "Shake the bottle with green and white labels after lifting it.",
+    "Grip the bottle with green label using the left arm and shake.",
+    "Secure the yellow bottle with a green design and perform a shake.",
+    "Use the left arm to grab the bottle with white cap and shake properly.",
+    "Use the left arm to lift and shake the yellow plastic bottle with white top.",
+    "Grab the yellow bottle with the left arm and shake.",
+    "Lift the bottle with a smooth plastic body and shake it gently.",
+    "Take the rectangular bottle with cylindrical neck using the left arm and give it a shake.",
+    "Grab the yellow plastic bottle with white top using the left arm, then shake.",
+    "Use the left arm to hold the medium rectangular yellow bottle and shake it.",
+    "Grab the bottle with white cap carefully and shake.",
+    "Shake the bottle with white cap thoroughly after grabbing it.",
+    "Shake the smooth bottle with rounded edges after grabbing it.",
+    "Shake the the yellow container with rounded edges properly after lifting.",
+    "Shake the yellow plastic bottle with white top firmly after grabbing.",
+    "Shake the yellow plastic bottle with white top after grabbing it.",
+    "Use the left arm to pick and shake the medium rectangular yellow bottle.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Lift the rectangular bottle with cylindrical neck and shake it thoroughly.",
+    "Pick the rectangular bottle with cylindrical neck, shake it with the left arm.",
+    "Lift the yellow plastic bottle with white top with the left arm and give it a shake.",
+    "Hold the rectangular bottle with cylindrical neck with the left arm and shake lightly.",
+    "Use the left arm to grab the yellow bottle with a green design and shake it.",
+    "Catch the yellow plastic bottle with white top and shake it instantly.",
+    "With the left arm, pick the bottle with a smooth plastic body and shake properly.",
+    "Lift the bottle with white cap with the left arm and shake it.",
+    "Use the left arm to lift and shake the bottle with green and white labels.",
+    "Grab the bottle with a smooth plastic body firmly, shake it, and put it down.",
+    "Shake the bottle with white cap after holding it firmly.",
+    "Lift up the rectangular bottle with cylindrical neck using the left arm, then shake.",
+    "Pick the yellow container with rounded edges up with the left arm and shake.",
+    "Pick the yellow container with rounded edges and perform shaking motion.",
+    "Utilize the left arm to hold the yellow plastic bottle with white top and shake it.",
+    "Pick up the bottle with white cap and shake it well.",
+    "Hold the bottle with white cap, shake it briefly.",
+    "Shake the yellow bottle with a green design using the left arm after grabbing.",
+    "Hold the yellow plastic bottle with white top steady, then shake it.",
+    "Grab the yellow bottle and shake it steadily.",
+    "Using the left arm, shake the yellow plastic bottle with white top and then place it back.",
+    "Grab the bottle with green label and give it a shake.",
+    "Hold the medium rectangular yellow bottle and shake it properly.",
+    "Grasp the yellow container with rounded edges with the left arm and shake it.",
+    "Lift the yellow bottle with a green design with the left arm and shake.",
+    "Pick up the yellow bottle and shake it.",
+    "Pick the medium rectangular yellow bottle up using the left arm and shake it.",
+    "Use the left arm to lift and shake the yellow bottle.",
+    "Grab and shake the plastic bottle using the left arm.",
+    "Hold and shake the the medium rectangular yellow bottle carefully.",
+    "Grab the bottle with a smooth plastic body and move it to shake.",
+    "Shake the smooth bottle with rounded edges after grabbing it.",
+    "Shake the yellow bottle with a green design after lifting it.",
+    "Grip the plastic bottle using the left arm and shake.",
+    "Secure the bottle with green and white labels and perform a shake.",
+    "Use the left arm to grab the bottle with green label and shake properly.",
+    "Use the left arm to lift and shake the bottle with white cap.",
+    "Grab the bottle with green label with the left arm and shake.",
+    "Lift the bottle with green label and shake it gently.",
+    "Take the medium rectangular yellow bottle using the left arm and give it a shake.",
+    "Grab the yellow bottle using the left arm, then shake.",
+    "Use the left arm to hold the bottle with white cap and shake it.",
+    "Grab the yellow plastic bottle with white top carefully and shake.",
+    "Shake the yellow bottle with a green design thoroughly after grabbing it.",
+    "Shake the smooth bottle with rounded edges after grabbing it.",
+    "Shake the the yellow bottle with a green design properly after lifting.",
+    "Shake the medium rectangular yellow bottle firmly after grabbing.",
+    "Shake the bottle with white cap after grabbing it.",
+    "Use the left arm to pick and shake the yellow bottle with a green design.",
+    "Secure the yellow bottle, shake it, and place it down.",
+    "Lift the bottle with green and white labels and shake it thoroughly.",
+    "Pick the rectangular bottle with cylindrical neck, shake it with the left arm.",
+    "Lift the yellow bottle with the left arm and give it a shake.",
+    "Hold the medium rectangular yellow bottle with the left arm and shake lightly.",
+    "Use the left arm to grab the plastic bottle and shake it.",
+    "Catch the bottle with green and white labels and shake it instantly.",
+    "With the left arm, pick the bottle with green label and shake properly.",
+    "Lift the yellow bottle with the left arm and shake it.",
+    "Use the left arm to lift and shake the bottle with green label.",
+    "Grab the smooth bottle with rounded edges firmly, shake it, and put it down.",
+    "Shake the smooth bottle with rounded edges after holding it firmly.",
+    "Lift up the bottle with white cap using the left arm, then shake.",
+    "Pick the yellow container with rounded edges up with the left arm and shake.",
+    "Pick the bottle with green and white labels and perform shaking motion.",
+    "Utilize the left arm to hold the bottle with green and white labels and shake it.",
+    "Pick up the yellow plastic bottle with white top and shake it well.",
+    "Hold the yellow bottle with a green design, shake it briefly.",
+    "Shake the bottle with a smooth plastic body using the left arm after grabbing.",
+    "Hold the yellow bottle steady, then shake it.",
+    "Grab the bottle with green and white labels and shake it steadily.",
+    "Using the left arm, shake the bottle with green label and then place it back.",
+    "Grab the medium rectangular yellow bottle and give it a shake.",
+    "Hold the smooth bottle with rounded edges and shake it properly.",
+    "Grasp the rectangular bottle with cylindrical neck with the left arm and shake it.",
+    "Lift the yellow plastic bottle with white top with the left arm and shake.",
+    "Pick up the yellow bottle with a green design and shake it.",
+    "Pick the yellow container with rounded edges up using the left arm and shake it."
+  ],
+  "unseen": [
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008230.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008230.json
new file mode 100644
index 0000000000000000000000000000000000000000..039920083cee2d0a4fd52c8a9df5a9aefbdb4f72
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008230.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the rounded body bottle made of plastic using the right arm after grabbing.",
+    "Hold the medium-sized plastic bottle and shake it properly.",
+    "Shake the smooth cylindrical bottle after grabbing it.",
+    "Grab the hand-sized bottle with screw cap using the right arm, then shake.",
+    "Catch the bottle with cute ghost drawing and shake it instantly.",
+    "Use the right arm to grab the smooth cylindrical bottle and shake properly.",
+    "Use the right arm to pick and shake the light gray colored container bottle.",
+    "Pick up the medium cylinder-shaped bottle and shake it.",
+    "Use the right arm to lift and shake the medium cylinder-shaped bottle.",
+    "Hold the rounded body bottle made of plastic, shake it briefly.",
+    "Hold the gray bottle with slight shine with the right arm and shake lightly.",
+    "Grab the smooth cylindrical bottle and give it a shake.",
+    "Pick the plastic bottle with ghost print, shake it with the right arm.",
+    "Lift the bottle shaped like small cylinder with the right arm and shake.",
+    "Grab the medium cylinder-shaped bottle and shake it steadily.",
+    "Shake the plastic bottle with ghost print after lifting it.",
+    "Grab the plastic bottle with ghost print and move it to shake.",
+    "Shake the plastic bottle with ghost print thoroughly after grabbing it.",
+    "Shake the gray bottle with slight shine after grabbing it.",
+    "Secure the hand-sized bottle with screw cap, shake it, and place it down.",
+    "Lift the milk-bottle shape design with the right arm and shake it.",
+    "Pick the milk-bottle shape design and perform shaking motion.",
+    "Use the right arm to lift and shake the smooth cylindrical bottle.",
+    "Use the right arm to lift and shake the rounded body bottle made of plastic.",
+    "Grip the medium-sized plastic bottle using the right arm and shake.",
+    "Grab the medium-sized plastic bottle with the right arm and shake.",
+    "Grab the light gray colored container bottle firmly, shake it, and put it down.",
+    "Pick the light gray colored container bottle up with the right arm and shake.",
+    "Grab and shake the milk-bottle shape design using the right arm.",
+    "Hold and shake the the hand-sized bottle with screw cap carefully.",
+    "Lift the medium cylinder-shaped bottle and shake it gently.",
+    "Use the right arm to grab the medium cylinder-shaped bottle and shake it.",
+    "Hold the light gray colored container bottle steady, then shake it.",
+    "Shake the milk-bottle shape design firmly after grabbing.",
+    "Grab the medium cylinder-shaped bottle carefully and shake.",
+    "Secure the light gray colored container bottle and perform a shake.",
+    "Take the medium cylinder-shaped bottle using the right arm and give it a shake.",
+    "Shake the rounded body bottle made of plastic after grabbing it.",
+    "Pick up the hand-sized bottle with screw cap and shake it well.",
+    "Using the right arm, shake the medium-sized plastic bottle and then place it back.",
+    "Utilize the right arm to hold the bottle with cute ghost drawing and shake it.",
+    "Grasp the gray bottle with slight shine with the right arm and shake it.",
+    "Use the right arm to hold the smooth cylindrical bottle and shake it.",
+    "Lift up the rounded body bottle made of plastic using the right arm, then shake.",
+    "Shake the the bottle with cute ghost drawing properly after lifting.",
+    "Lift the plastic bottle with ghost print and shake it thoroughly.",
+    "Lift the smooth cylindrical bottle with the right arm and give it a shake.",
+    "Shake the smooth surface bottle with gray shade after holding it firmly.",
+    "With the right arm, pick the smooth surface bottle with gray shade and shake properly.",
+    "Pick the medium cylinder-shaped bottle up using the right arm and shake it.",
+    "Shake the bottle with cute ghost drawing using the right arm after grabbing.",
+    "Hold the rounded body bottle made of plastic and shake it properly.",
+    "Shake the medium-sized plastic bottle after grabbing it.",
+    "Grab the hand-sized bottle with screw cap using the right arm, then shake.",
+    "Catch the medium-sized plastic bottle and shake it instantly.",
+    "Use the right arm to grab the hand-sized bottle with screw cap and shake properly.",
+    "Use the right arm to pick and shake the plastic bottle with ghost print.",
+    "Pick up the medium-sized plastic bottle and shake it.",
+    "Use the right arm to lift and shake the bottle shaped like small cylinder.",
+    "Hold the hand-sized bottle with screw cap, shake it briefly.",
+    "Hold the bottle with cute ghost drawing with the right arm and shake lightly.",
+    "Grab the medium-sized plastic bottle and give it a shake.",
+    "Pick the medium-sized plastic bottle, shake it with the right arm.",
+    "Lift the bottle with cute ghost drawing with the right arm and shake.",
+    "Grab the smooth cylindrical bottle and shake it steadily.",
+    "Shake the light gray colored container bottle after lifting it.",
+    "Grab the milk-bottle shape design and move it to shake.",
+    "Shake the bottle shaped like small cylinder thoroughly after grabbing it.",
+    "Shake the smooth cylindrical bottle after grabbing it.",
+    "Secure the rounded body bottle made of plastic, shake it, and place it down.",
+    "Lift the hand-sized bottle with screw cap with the right arm and shake it.",
+    "Pick the gray bottle with slight shine and perform shaking motion.",
+    "Use the right arm to lift and shake the hand-sized bottle with screw cap.",
+    "Use the right arm to lift and shake the smooth surface bottle with gray shade.",
+    "Grip the milk-bottle shape design using the right arm and shake.",
+    "Grab the smooth surface bottle with gray shade with the right arm and shake.",
+    "Grab the smooth cylindrical bottle firmly, shake it, and put it down.",
+    "Pick the smooth surface bottle with gray shade up with the right arm and shake.",
+    "Grab and shake the rounded body bottle made of plastic using the right arm.",
+    "Hold and shake the the bottle with cute ghost drawing carefully.",
+    "Lift the hand-sized bottle with screw cap and shake it gently.",
+    "Use the right arm to grab the bottle with cute ghost drawing and shake it.",
+    "Hold the plastic bottle with ghost print steady, then shake it.",
+    "Shake the milk-bottle shape design firmly after grabbing.",
+    "Grab the light gray colored container bottle carefully and shake.",
+    "Secure the plastic bottle with ghost print and perform a shake.",
+    "Take the medium cylinder-shaped bottle using the right arm and give it a shake.",
+    "Shake the medium cylinder-shaped bottle after grabbing it.",
+    "Pick up the milk-bottle shape design and shake it well.",
+    "Using the right arm, shake the smooth surface bottle with gray shade and then place it back.",
+    "Utilize the right arm to hold the rounded body bottle made of plastic and shake it.",
+    "Grasp the bottle with cute ghost drawing with the right arm and shake it.",
+    "Use the right arm to hold the hand-sized bottle with screw cap and shake it.",
+    "Lift up the bottle shaped like small cylinder using the right arm, then shake.",
+    "Shake the the light gray colored container bottle properly after lifting.",
+    "Lift the medium-sized plastic bottle and shake it thoroughly.",
+    "Lift the hand-sized bottle with screw cap with the right arm and give it a shake.",
+    "Shake the bottle with cute ghost drawing after holding it firmly.",
+    "With the right arm, pick the plastic bottle with ghost print and shake properly.",
+    "Pick the bottle with cute ghost drawing up using the right arm and shake it."
+  ],
+  "unseen": [
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Grab the light gray bottle and give it a shake.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the right arm to pick the light gray bottle.",
+    "Grab the light gray bottle and give it a shake.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the right arm to pick the light gray bottle.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the right arm to pick the light gray bottle.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Grab the light gray bottle and give it a shake.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the right arm to pick the light gray bottle.",
+    "Grab the light gray bottle and give it a shake.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick and shake the the bottle with rounded cap top with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008315.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008315.json
new file mode 100644
index 0000000000000000000000000000000000000000..804a05b4e10aeedf8f56bfb997c65c5c43375129
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008315.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the yellow bottle, shake it briefly.",
+    "Grab the handheld curvy bottle using the right arm, then shake.",
+    "Secure the bottle with screw cap and perform a shake.",
+    "Grab the bottle for liquid firmly, shake it, and put it down.",
+    "Grasp the medium plastic bottle with cap with the right arm and shake it.",
+    "Lift the bottle with screw cap and shake it thoroughly.",
+    "Use the right arm to hold the plastic bottle with curved sides and shake it.",
+    "Grab the medium plastic bottle with cap with the right arm and shake.",
+    "Pick the bottle for liquid and perform shaking motion.",
+    "Shake the the handheld curvy bottle properly after lifting.",
+    "Pick the plastic bottle up using the right arm and shake it.",
+    "Shake the bottle with screw cap using the right arm after grabbing.",
+    "Shake the yellow bottle with dark label after grabbing it.",
+    "Hold the yellow bottle with dark label steady, then shake it.",
+    "Lift up the handheld curvy bottle using the right arm, then shake.",
+    "Use the right arm to lift and shake the yellow bottle.",
+    "Shake the medium plastic bottle with cap after grabbing it.",
+    "Lift the bottle for liquid with the right arm and shake it.",
+    "Shake the bottle for liquid after grabbing it.",
+    "Shake the bottle for liquid firmly after grabbing.",
+    "Hold the yellow bottle with blue label and shake it properly.",
+    "Use the right arm to grab the medium plastic bottle with cap and shake properly.",
+    "Catch the bottle with screw cap and shake it instantly.",
+    "Use the right arm to lift and shake the medium plastic bottle with cap.",
+    "Grab the yellow bottle for liquid storage carefully and shake.",
+    "Use the right arm to grab the yellow bottle with blue label and shake it.",
+    "Shake the bottle with screw cap after holding it firmly.",
+    "Use the right arm to pick and shake the bottle for liquid.",
+    "Grab the handheld curvy bottle and shake it steadily.",
+    "Pick up the medium plastic bottle with cap and shake it well.",
+    "Grab the bottle for liquid and move it to shake.",
+    "Hold and shake the the yellow bottle with blue label carefully.",
+    "Pick up the yellow bottle and shake it.",
+    "Take the yellow bottle for liquid storage using the right arm and give it a shake.",
+    "Lift the bottle for liquid and shake it gently.",
+    "Pick the bottle with screw cap, shake it with the right arm.",
+    "Secure the medium-sized bottle, shake it, and place it down.",
+    "Using the right arm, shake the yellow bottle with blue label and then place it back.",
+    "Use the right arm to lift and shake the yellow bottle with blue label.",
+    "Lift the yellow bottle for liquid storage with the right arm and give it a shake.",
+    "Grab and shake the bottle with screw cap using the right arm.",
+    "Shake the medium plastic bottle with cap thoroughly after grabbing it.",
+    "Utilize the right arm to hold the bottle with screw cap and shake it.",
+    "Pick the plastic bottle with curved sides up with the right arm and shake.",
+    "Lift the yellow bottle with the right arm and shake.",
+    "Grip the plastic bottle with curved sides using the right arm and shake.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Grab the smooth plastic bottle and give it a shake.",
+    "With the right arm, pick the medium plastic bottle with cap and shake properly.",
+    "Shake the bottle for liquid after lifting it.",
+    "Hold the yellow bottle with dark label, shake it briefly.",
+    "Grab the medium plastic bottle with cap using the right arm, then shake.",
+    "Secure the plastic bottle with curved sides and perform a shake.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Grasp the plastic bottle with curved sides with the right arm and shake it.",
+    "Lift the yellow bottle with blue label and shake it thoroughly.",
+    "Use the right arm to hold the plastic bottle with curved sides and shake it.",
+    "Grab the plastic bottle with curved sides with the right arm and shake.",
+    "Pick the handheld curvy bottle and perform shaking motion.",
+    "Shake the the yellow bottle for liquid storage properly after lifting.",
+    "Pick the medium-sized bottle up using the right arm and shake it.",
+    "Shake the medium-sized bottle using the right arm after grabbing.",
+    "Shake the bottle for liquid after grabbing it.",
+    "Hold the yellow bottle with dark label steady, then shake it.",
+    "Lift up the plastic bottle with curved sides using the right arm, then shake.",
+    "Use the right arm to lift and shake the yellow bottle.",
+    "Shake the medium-sized bottle after grabbing it.",
+    "Lift the yellow bottle with blue label with the right arm and shake it.",
+    "Shake the handheld curvy bottle after grabbing it.",
+    "Shake the yellow bottle for liquid storage firmly after grabbing.",
+    "Hold the medium plastic bottle with cap and shake it properly.",
+    "Use the right arm to grab the medium-sized bottle and shake properly.",
+    "Catch the yellow bottle with blue label and shake it instantly.",
+    "Use the right arm to lift and shake the yellow bottle for liquid storage.",
+    "Grab the yellow bottle carefully and shake.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake it.",
+    "Shake the plastic bottle with curved sides after holding it firmly.",
+    "Use the right arm to pick and shake the medium plastic bottle with cap.",
+    "Grab the smooth plastic bottle and shake it steadily.",
+    "Pick up the plastic bottle and shake it well.",
+    "Grab the bottle for liquid and move it to shake.",
+    "Hold and shake the the yellow bottle with dark label carefully.",
+    "Pick up the bottle with screw cap and shake it.",
+    "Take the yellow bottle for liquid storage using the right arm and give it a shake.",
+    "Lift the bottle with screw cap and shake it gently.",
+    "Pick the smooth plastic bottle, shake it with the right arm.",
+    "Secure the bottle for liquid, shake it, and place it down.",
+    "Using the right arm, shake the plastic bottle and then place it back.",
+    "Use the right arm to lift and shake the bottle for liquid.",
+    "Lift the smooth plastic bottle with the right arm and give it a shake.",
+    "Grab and shake the medium-sized bottle using the right arm.",
+    "Shake the plastic bottle with curved sides thoroughly after grabbing it.",
+    "Utilize the right arm to hold the medium-sized bottle and shake it.",
+    "Pick the bottle with screw cap up with the right arm and shake.",
+    "Lift the yellow bottle with dark label with the right arm and shake.",
+    "Grip the yellow bottle with blue label using the right arm and shake.",
+    "Hold the handheld curvy bottle with the right arm and shake lightly.",
+    "Grab the plastic bottle and give it a shake.",
+    "With the right arm, pick the yellow bottle with blue label and shake properly.",
+    "Shake the bottle for liquid after lifting it."
+  ],
+  "unseen": [
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Use the right arm to grab the yellow bottle with white cap and shake.",
+    "Pick up the smooth bottle with blue text with the right arm and shake.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Use the right arm to pick the smooth bottle with blue text.",
+    "Grab the smooth bottle with blue text, shake it properly, then set it down.",
+    "Grab the yellow bottle with white cap and give it a shake.",
+    "Shake the curvy yellow plastic bottle after picking it with the right arm.",
+    "Grab the curvy yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow bottle with white cap with the right arm.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Use the right arm to grab the yellow bottle with white cap and shake.",
+    "Pick up the yellow bottle with white cap with the right arm and shake.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Use the right arm to pick the yellow bottle with white cap.",
+    "Grab the yellow bottle with white cap, shake it properly, then set it down.",
+    "Grab the curvy yellow plastic bottle and give it a shake.",
+    "Shake the curvy yellow plastic bottle after picking it with the right arm.",
+    "Grab the smooth bottle with blue text and shake it.",
+    "Pick and shake the the smooth bottle with blue text with the right arm.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Use the right arm to grab the curvy yellow plastic bottle and shake.",
+    "Pick up the curvy yellow plastic bottle with the right arm and shake.",
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Use the right arm to pick the smooth bottle with blue text.",
+    "Grab the yellow bottle with white cap, shake it properly, then set it down.",
+    "Grab the curvy yellow plastic bottle and give it a shake.",
+    "Shake the yellow bottle with white cap after picking it with the right arm.",
+    "Grab the yellow bottle with white cap and shake it.",
+    "Pick and shake the the smooth bottle with blue text with the right arm.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Use the right arm to grab the smooth bottle with blue text and shake.",
+    "Pick up the smooth bottle with blue text with the right arm and shake.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Use the right arm to pick the smooth bottle with blue text.",
+    "Grab the smooth bottle with blue text, shake it properly, then set it down.",
+    "Grab the curvy yellow plastic bottle and give it a shake.",
+    "Shake the smooth bottle with blue text after picking it with the right arm.",
+    "Grab the yellow bottle with white cap and shake it.",
+    "Pick and shake the the yellow bottle with white cap with the right arm.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Use the right arm to grab the yellow bottle with white cap and shake.",
+    "Pick up the smooth bottle with blue text with the right arm and shake.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Use the right arm to pick the smooth bottle with blue text.",
+    "Grab the yellow bottle with white cap, shake it properly, then set it down.",
+    "Grab the yellow bottle with white cap and give it a shake.",
+    "Shake the yellow bottle with white cap after picking it with the right arm.",
+    "Grab the curvy yellow plastic bottle and shake it.",
+    "Pick and shake the the curvy yellow plastic bottle with the right arm.",
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Use the right arm to grab the curvy yellow plastic bottle and shake.",
+    "Pick up the yellow bottle with white cap with the right arm and shake.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Use the right arm to pick the yellow bottle with white cap.",
+    "Grab the curvy yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the curvy yellow plastic bottle and give it a shake.",
+    "Shake the smooth bottle with blue text after picking it with the right arm.",
+    "Grab the curvy yellow plastic bottle and shake it.",
+    "Pick and shake the the smooth bottle with blue text with the right arm.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Use the right arm to grab the smooth bottle with blue text and shake.",
+    "Pick up the curvy yellow plastic bottle with the right arm and shake.",
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Use the right arm to pick the yellow bottle with white cap.",
+    "Grab the smooth bottle with blue text, shake it properly, then set it down.",
+    "Grab the smooth bottle with blue text and give it a shake.",
+    "Shake the curvy yellow plastic bottle after picking it with the right arm.",
+    "Grab the smooth bottle with blue text and shake it.",
+    "Pick and shake the the curvy yellow plastic bottle with the right arm.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Use the right arm to grab the curvy yellow plastic bottle and shake.",
+    "Pick up the smooth bottle with blue text with the right arm and shake.",
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Use the right arm to pick the yellow bottle with white cap.",
+    "Grab the smooth bottle with blue text, shake it properly, then set it down.",
+    "Grab the curvy yellow plastic bottle and give it a shake.",
+    "Shake the yellow bottle with white cap after picking it with the right arm.",
+    "Grab the yellow bottle with white cap and shake it.",
+    "Pick and shake the the smooth bottle with blue text with the right arm.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Use the right arm to grab the yellow bottle with white cap and shake.",
+    "Pick up the smooth bottle with blue text with the right arm and shake.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Use the right arm to pick the yellow bottle with white cap.",
+    "Grab the curvy yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the yellow bottle with white cap and give it a shake.",
+    "Shake the curvy yellow plastic bottle after picking it with the right arm.",
+    "Grab the smooth bottle with blue text and shake it.",
+    "Pick and shake the the yellow bottle with white cap with the right arm.",
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Use the right arm to grab the yellow bottle with white cap and shake.",
+    "Pick up the smooth bottle with blue text with the right arm and shake.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Use the right arm to pick the smooth bottle with blue text.",
+    "Grab the smooth bottle with blue text, shake it properly, then set it down.",
+    "Grab the yellow bottle with white cap and give it a shake.",
+    "Shake the yellow bottle with white cap after picking it with the right arm.",
+    "Grab the curvy yellow plastic bottle and shake it.",
+    "Pick and shake the the curvy yellow plastic bottle with the right arm."
+  ]
+}
\ No newline at end of file