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diff --git a/collected_robotwin2.0_github_latest_data_filter_redundant_piper_12_tasks_randomized_clean_table/shake_bottle/episode10008320.hdf5 b/collected_robotwin2.0_github_latest_data_filter_redundant_piper_12_tasks_randomized_clean_table/shake_bottle/episode10008320.hdf5
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diff --git a/collected_robotwin2.0_github_latest_data_filter_redundant_piper_12_tasks_randomized_clean_table/shake_bottle/episode10008344.hdf5 b/collected_robotwin2.0_github_latest_data_filter_redundant_piper_12_tasks_randomized_clean_table/shake_bottle/episode10008344.hdf5
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diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10001198.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10001198.json
new file mode 100644
index 0000000000000000000000000000000000000000..0eeaed8059412acc83410c1a12431d6295ab2459
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10001198.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the handheld medium claw hammer and strike the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Grab the silver hammer, then hit the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Lift the grippy handle hammer and hit the block",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Take the silver hammer using the right arm, hit the block.",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Grab the yellow and black hammer grip using the right arm then pound block",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Use the hammer for nails to beat after grabbing with the right arm",
+    "Use the right arm to grab the hammer with claw-shaped end and beat block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Take the medium-sized metal hammer and beat the block",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Take the black and yellow hammer grip and strike the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Pick up the medium-sized metal hammer using the right arm then beat",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Hold the grippy handle hammer and pound the block.",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "With the right arm, grab the hammer for nails and hammer the block",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Grab the hammer for nails and use it to hit",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Lift the grippy handle hammer and hit the block.",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Take the grippy handle hammer and hammer the block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Hold the grippy handle hammer then hit the block",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Take the hammer with two-tone handle and beat the block",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Pick the silver hammer from the table and strike"
+  ],
+  "unseen": [
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10001216.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10001216.json
new file mode 100644
index 0000000000000000000000000000000000000000..027c9d223c73c10ddc0a5840ae89e3b5caab832d
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10001216.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Pick up the yellow and black hammer grip with the right arm, strike the block.",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Use the right arm to grab the silver hammer and beat block",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Hold the grippy handle hammer and pound the block.",
+    "Pick the silver hammer from the table and strike",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Grab the handheld medium claw hammer using the right arm and strike the block",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Lift the grippy handle hammer and hit the block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Use the right arm to take the hammer for nails and strike",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Take the hammer for nails and hammer the block",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grab the silver curved hammer head and use it to hit",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Take the hammer for nails and smash the block.",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "Pick the nail-driving hammer and smash the block",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Lift the grippy handle hammer and hit the block.",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Grab the medium-sized metal hammer using the right arm and strike the block",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Take the hammer for nails and beat the block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Grab the silver curved hammer head to beat the block.",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Take the yellow and black hammer grip and smash the block."
+  ],
+  "unseen": [
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10001266.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10001266.json
new file mode 100644
index 0000000000000000000000000000000000000000..b683b59df4bb3e772e7050e0f74f56bac2d6d157
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10001266.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Pick the hammer for nails and smash the block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Hold the silver curved hammer head then hit the block",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Take the silver curved hammer head and smash the block.",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Hold the silver hammer and pound the block.",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Pick up the silver hammer using the left arm then beat",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Pick the silver hammer from the table and strike",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Take the silver hammer and strike the block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Pick the grippy handle hammer and smash the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Grab the silver hammer to beat the block.",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Take the silver hammer and strike the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Catch the nail-driving hammer and use it on the block.",
+    "With the left arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Utilize the left arm to hold the nail-driving hammer and strike."
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10001321.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10001321.json
new file mode 100644
index 0000000000000000000000000000000000000000..290784ff1ee117d2f9d238747838b1bedde7a8d9
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10001321.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Employ the right arm to grab the plastic handle metal hammer and hit.",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Catch the silver hammer and use it on the block.",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Pick up the medium-sized metal hammer using the right arm, hammer the block.",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Take the silver curved hammer head and hammer the block",
+    "Take the nail-driving hammer and beat the block",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Lift the nail-driving hammer with the right arm then strike block",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Take the handheld medium claw hammer and strike the block",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Take the silver hammer and smash the block.",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Hold the hammer for nails and pound the block.",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the silver curved hammer head, then hit the block",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Grab the silver hammer with the right arm and strike block",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Lift the silver hammer and hit the block",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Take the hammer for nails and beat the block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Pick up the yellow and black hammer grip with the right arm, strike the block.",
+    "Pick the silver hammer from the table and strike",
+    "Take the silver hammer and strike the block",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block."
+  ],
+  "unseen": [
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10002083.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10002083.json
new file mode 100644
index 0000000000000000000000000000000000000000..07348924762de9f9095422ccb71f1647b8a94c30
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10002083.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Pick up the silver curved hammer head with the right arm, strike the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the medium-sized metal hammer using the right arm and hit the block",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Grab the hammer for nails and use it to hit",
+    "Take the yellow and black hammer grip and beat the block",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Use the right arm to grab the silver hammer and beat",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Lift the nail-driving hammer with the right arm then strike block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Take the nail-driving hammer and strike the block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Take the silver hammer and smash the block.",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Grab the plastic handle metal hammer using the right arm then pound block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Utilize the right arm to hold the grippy handle hammer and strike.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Hold the grippy handle hammer then hit the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Grab the medium-sized metal hammer with the right arm and hit the block",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "Use the right arm to take the hammer with claw-shaped end and strike",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Hold the hammer for nails and pound the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Take the grippy handle hammer and beat the block",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Use the silver hammer to hammer the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Take the silver hammer and strike the block",
+    "Pick the hammer for nails and smash the block",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Pick the hammer for nails and strike the block.",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Take the nail-driving hammer and smash the block.",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Take the nail-driving hammer and hammer the block",
+    "Grab the yellow and black hammer grip using the right arm then pound block",
+    "Catch the silver hammer and use it on the block.",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Lift the nail-driving hammer and hit the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Hold the silver hammer then hit the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Grab the silver hammer, then hit the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Grab the grippy handle hammer with the right arm and hit the block"
+  ],
+  "unseen": [
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10002102.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10002102.json
new file mode 100644
index 0000000000000000000000000000000000000000..57259cee853d176e8756afac420022b69d0e7a13
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10002102.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic handle metal hammer and hit the block.",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Use the right arm to grab the silver hammer and beat",
+    "Grab the hammer with claw-shaped end with the right arm and hit the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Grab the hammer for nails with the right arm and hit block",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Hold the hammer for nails and pound the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Grab the plastic handle metal hammer with the right arm and beat the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Lift the silver hammer with the right arm then strike block",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Take the hammer for nails and beat the block",
+    "Grab the silver curved hammer head using the right arm, then beat the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the hammer for nails to beat the block.",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Pick the nail-driving hammer and smash the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Lift the silver hammer and hit the block",
+    "Take the silver hammer and strike the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Lift the handheld medium claw hammer with the right arm then strike block",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Lift the medium-sized metal hammer using the right arm to hit the block.",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Lift the hammer for nails, then beat the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Take the silver curved hammer head and strike the block",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Grab the hammer for nails using the right arm then pound block",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "Pick up the hammer for nails and strike the block",
+    "Employ the right arm to grab the black and yellow hammer grip and hit."
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10002113.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10002113.json
new file mode 100644
index 0000000000000000000000000000000000000000..6095cb30ca209431bad78871809266ea2817f69e
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10002113.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the handheld medium claw hammer and hit the block",
+    "Use the hammer for nails to hammer the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Pick the hammer for nails from the table and strike",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Catch the hammer for nails and use it on the block.",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Grab the hammer for nails and use it to hit",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Take the hammer with two-tone handle and strike the block",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Pick the silver curved hammer head and smash the block",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Pick the silver curved hammer head from the table and strike",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Use the left arm to grab the silver hammer and beat",
+    "Pick up the silver hammer using the left arm then beat",
+    "Hold the nail-driving hammer then hit the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Lift the plastic handle metal hammer using the left arm to hit the block."
+  ],
+  "unseen": [
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10002184.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10002184.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f11f3f1f9ba5475cf839e3cf19a7dcb8723e7a2
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10002184.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Lift the silver curved hammer head and hit the block",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Pick up the silver hammer and use it on the block",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Take the hammer for nails and strike the block",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the grippy handle hammer to beat the block.",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Grab the silver hammer with the left arm and strike block",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Pick the silver hammer and smash the block",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Lift the silver hammer with the left arm then strike block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Grab the nail-driving hammer, then hit the block",
+    "Grab the silver hammer, then strike the block.",
+    "Grab the silver hammer and use it to hit",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Use the silver hammer to hammer the block.",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Use the left arm to take the silver hammer and strike",
+    "Hold the silver hammer then hit the block",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Lift the silver curved hammer head and hit the block.",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Pick up the grippy handle hammer and strike the block",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Pick the grippy handle hammer and strike the block.",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Lift the silver hammer with the left arm then strike block",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Hold the grippy handle hammer and pound the block.",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Grab the plastic handle metal hammer and use it to hit"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10002291.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10002291.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ebd177798d9d4c5813cc9c8d1f011ec4afea4fd
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10002291.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the hammer with two-tone handle and hammer the block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Grab the silver hammer, then strike the block.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Pick the silver curved hammer head and smash the block",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Use the left arm to grab the silver hammer and beat",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Pick the hammer for nails from the table and strike",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Use the left arm to take the hammer for nails and strike",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Pick up the silver curved hammer head and strike the block",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Take the hammer for nails and beat the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Use the grippy handle hammer to hammer the block.",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Take the hammer for nails and hammer the block",
+    "Grab the silver curved hammer head, then hit the block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Take the silver hammer and smash the block.",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Take the silver hammer and strike the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Lift the silver hammer, then beat the block.",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Take the hammer for nails and beat the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Take the grippy handle hammer and strike the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Grab the handheld medium claw hammer with the left arm and beat the block."
+  ],
+  "unseen": [
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003023.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003023.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d0c3181df6405b210d47aa24ca81d705fd2d4bf
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003023.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Take the silver curved hammer head and smash the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Pick up the silver hammer using the left arm then beat",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Pick the silver curved hammer head from the table and strike",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Take the silver hammer and hammer the block",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Beat the block after grabbing the hammer for nails",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Pick up the hammer for nails and use it on the block",
+    "Pick the grippy handle hammer and smash the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Pick up the silver curved hammer head and strike the block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Use the left arm to grab the nail-driving hammer and beat",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Hold the plastic handle metal hammer then hit the block",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Use the silver hammer to hammer the block.",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Lift the hammer for nails and hit the block.",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Pick the hammer for nails and smash the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Pick the silver hammer with the left arm and hit the block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003062.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003062.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b1d3700b73f5a447ac882168febdf0756abfa89
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003062.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Take the silver hammer and strike the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Take the nail-driving hammer and strike the block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Lift the silver hammer and hit the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Grab the hammer for nails to beat the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Hold the nail-driving hammer then hit the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "Pick up the silver hammer and strike the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Beat the block after grabbing the silver hammer",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Take the hammer for nails and strike the block",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Lift the hammer for nails and hit the block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "With the left arm, pick up the hammer with two-tone handle and strike the block.",
+    "Use the left arm to grab the silver hammer and beat",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Take the nail-driving hammer and beat the block",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "Lift the medium-sized metal hammer with the left arm then strike block"
+  ],
+  "unseen": [
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003097.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003097.json
new file mode 100644
index 0000000000000000000000000000000000000000..482a19d78ba2a88567c4b9f8c170be203055d44e
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003097.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the silver hammer from the table and strike",
+    "Take the hammer for nails and strike the block",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Pick up the silver curved hammer head and strike the block",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Take the silver curved hammer head and beat the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Pick the silver hammer and strike the block.",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "Make the right arm grab the medium-sized metal hammer and strike the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the hammer for nails and use it to hit",
+    "Grab the silver hammer, then strike the block.",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Lift the silver hammer and hit the block.",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Lift the silver hammer with the right arm then strike block",
+    "Take the hammer for nails and hammer the block",
+    "Lift the yellow and black hammer grip using the right arm to hit the block.",
+    "Grab the black and yellow hammer grip using the right arm then pound block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Lift the silver hammer and hit the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Take the nail-driving hammer and beat the block",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Employ the right arm to grab the grippy handle hammer and hit.",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Take the hammer with two-tone handle and strike the block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Grab the silver hammer, then strike the block.",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "Lift the nail-driving hammer with the right arm then strike block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Lift the medium-sized metal hammer using the right arm to hit the block.",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Grab the silver hammer to beat the block.",
+    "Lift the silver curved hammer head and hit the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Use the right arm to take the hammer for nails and strike"
+  ],
+  "unseen": [
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003188.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003188.json
new file mode 100644
index 0000000000000000000000000000000000000000..61786f3095395a4fc9b4a22c7b8e4f2d0716452f
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003188.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the hammer for nails and strike the block",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Lift the grippy handle hammer and hit the block.",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Grab the hammer with two-tone handle with the left arm and hit block",
+    "Take the hammer for nails and beat the block",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Lift the silver hammer, then beat the block.",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Grab the hammer for nails, then strike the block.",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Pick the silver curved hammer head from the table and strike",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Pick the silver hammer and strike the block.",
+    "Lift the grippy handle hammer and hit the block.",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Use the silver curved hammer head to hammer the block.",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Take the hammer for nails and beat the block",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Pick the hammer for nails and smash the block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Take the nail-driving hammer and smash the block.",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Lift the grippy handle hammer and hit the block",
+    "Hold the silver hammer and pound the block.",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003273.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003273.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb134eb4b6fae17f63a23d1144759bafbc0a908c
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003273.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Grab the grippy handle hammer, then hit the block",
+    "Take the hammer for nails and beat the block",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Pick the nail-driving hammer and smash the block",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Take the silver hammer and strike the block",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Grab the hammer for nails, then strike the block.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Beat the block after grabbing the silver hammer",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Lift the hammer for nails and hit the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Lift the silver hammer and hit the block.",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Use the nail-driving hammer to hammer the block.",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Hold the hammer for nails and pound the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Grab the silver hammer with the left arm and strike block",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Lift the silver curved hammer head and hit the block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Grab the hammer with two-tone handle with the left arm and hit block",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003300.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003300.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0221ec2f3e8a8ea2b1c5e4c9cbbae90ddde8b37
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003300.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Take the grippy handle hammer and strike the block",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Lift the hammer for nails and hit the block.",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "With the left arm, grab the silver hammer and hit the block",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Take the hammer for nails and strike the block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Lift the silver hammer with the left arm then strike block",
+    "Take the nail-driving hammer and strike the block",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Take the silver hammer and smash the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Grab the hammer for nails, then hit the block",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "With the left arm, grab the silver hammer and hit the block",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Take the hammer for nails and strike the block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Grab the hammer for nails to beat the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Take the nail-driving hammer and beat the block",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block."
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004024.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004024.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8906bcae3deb348f4dcfb6bd010f1c8b959731a
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004024.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the yellow and black hammer grip and hit the block",
+    "Take the silver hammer and hammer the block",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Grab the nail-driving hammer and use it to hit",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Pick the hammer for nails and strike the block.",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Take the nail-driving hammer and beat the block",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Take the hammer for nails and strike the block",
+    "Take the silver hammer and strike the block",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Grab the silver hammer, then hit the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Grab the nail-driving hammer and use it to hit",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Hold the grippy handle hammer and pound the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Take the silver curved hammer head and strike the block",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Grab the silver hammer, then hit the block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Beat the block after grabbing the hammer for nails",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Pick up the silver hammer and strike the block",
+    "Lift the hammer for nails and hit the block.",
+    "Take the grippy handle hammer and beat the block",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Lift the hammer for nails, then beat the block.",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Grab the silver hammer using the left arm then pound block",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Grab the hammer for nails using the left arm, then beat the block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004050.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004050.json
new file mode 100644
index 0000000000000000000000000000000000000000..71e94203e8fe24a13e39f1eb42a1f3886abdc7ea
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004050.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the nail-driving hammer and pound the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Pick up the silver hammer and strike the block",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Pick the nail-driving hammer and smash the block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Take the silver hammer and strike the block",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "Pick up the silver hammer and use it on the block",
+    "Lift the silver curved hammer head and hit the block",
+    "Grab the hammer for nails to beat the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Catch the silver hammer and use it on the block.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Pick the nail-driving hammer and smash the block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Take the plastic handle metal hammer using the left arm, hit the block."
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004054.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004054.json
new file mode 100644
index 0000000000000000000000000000000000000000..738ee0baf2bcb7638f6a4cb1e4665146f583a8b6
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004054.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Catch the hammer for nails and use it on the block.",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Take the hammer for nails and strike the block",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Pick the nail-driving hammer and strike the block.",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Grab the silver hammer and use it to hit",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Lift the grippy handle hammer and hit the block.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Pick up the silver curved hammer head and strike the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Pick up the silver hammer using the left arm then beat",
+    "Pick up the hammer for nails and use it on the block",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Take the grippy handle hammer and strike the block",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Grab the hammer for nails and use it to hit",
+    "Hold the hammer for nails then hit the block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Hold the grippy handle hammer and pound the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Grab the nail-driving hammer to beat the block.",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Pick up the silver hammer and strike the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block."
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004070.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004070.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0b34a61446f3a28b19409416e6d6ca5db9371c2
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004070.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Hold the hammer with two-tone handle then hit the block",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Take the silver hammer and beat the block",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Take the hammer for nails and hammer the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the nail-driving hammer to beat the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Use the left arm to grab the silver hammer and beat block",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Use the left arm to grab the nail-driving hammer and beat",
+    "With the left arm, grab the hammer for nails and hammer the block"
+  ],
+  "unseen": [
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004080.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004080.json
new file mode 100644
index 0000000000000000000000000000000000000000..87e3580ba827a1e7d2554b19d06630d0e71758f2
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004080.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the grippy handle hammer and strike the block.",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Take the hammer for nails and beat the block",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Lift the silver hammer, then beat the block.",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Grab the silver curved hammer head using the right arm, then beat the block",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Take the grippy handle hammer and strike the block",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Catch the hammer for nails and use it on the block.",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Lift the silver hammer and hit the block",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Use the silver curved hammer head to hammer the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Utilize the right arm to hold the grippy handle hammer and strike.",
+    "Lift the hammer for nails with the right arm then strike block",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Use the right arm to take the silver hammer and strike",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Take the silver hammer and strike the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Grab the silver hammer and use it to hit",
+    "Pick the nail-driving hammer and smash the block",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Use the right arm to grab the silver hammer and beat block",
+    "Lift the hammer for nails and hit the block",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Use the silver hammer to hammer the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Grab the silver curved hammer head, then hit the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Pick up the silver hammer and strike the block",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Beat the block after grabbing the nail-driving hammer"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004134.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004134.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa8efbb63a2b4eab3bd95f6ad5af704cddb359c4
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004134.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Hold the nail-driving hammer then hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Lift the silver curved hammer head and hit the block.",
+    "Take the silver hammer using the right arm, hit the block.",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Beat the block after grabbing the silver hammer",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Pick the medium-sized metal hammer with the right arm and hit the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Grab the handheld medium claw hammer using the right arm and strike the block",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Pick up the silver hammer and use it on the block",
+    "Grab the silver hammer and use it to hit",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Use the right arm to grab the medium-sized metal hammer and beat",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Grab the silver curved hammer head, then hit the block",
+    "Pick up the medium-sized metal hammer using the right arm then beat",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Grab the plastic handle metal hammer with the right arm and beat the block.",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Employ the right arm to grab the grippy handle hammer and hit.",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Use the right arm to grab the silver hammer and beat block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Grab the nail-driving hammer to beat the block.",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Catch the medium-sized metal hammer and use it on the block."
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004136.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004136.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa077b87282040f96b3e73a2776b1287d1b31c05
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004136.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Grab the nail-driving hammer to beat the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Take the hammer for nails and strike the block",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Grab the silver hammer using the left arm then pound block",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Take the medium-sized metal hammer and beat the block",
+    "Hold the silver hammer then hit the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the silver hammer with the left arm and hit block",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Grab the silver curved hammer head, then hit the block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Grab the hammer for nails and use it to hit",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Use the left arm to take the hammer for nails and strike",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Take the nail-driving hammer and hammer the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Pick up the nail-driving hammer and strike the block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Lift the silver curved hammer head and hit the block",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Pick the hammer for nails and smash the block",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Grab the silver hammer to beat the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Pick the hammer for nails from the table and strike",
+    "Take the yellow and black hammer grip and beat the block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Lift the grippy handle hammer and hit the block",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Grab the hammer with two-tone handle with the left arm and strike block"
+  ],
+  "unseen": [
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004243.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004243.json
new file mode 100644
index 0000000000000000000000000000000000000000..be06107f8765e663f9882c576d8b8091296c9168
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004243.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Take the silver hammer and smash the block.",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Grab the silver curved hammer head to beat the block.",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Take the grippy handle hammer and hammer the block",
+    "Pick the grippy handle hammer and smash the block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Lift the nail-driving hammer, then beat the block.",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Take the silver hammer and beat the block",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Lift the silver hammer with the left arm then strike block",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Pick the nail-driving hammer and strike the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Beat the block after grabbing the silver hammer",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Grab the silver hammer and use it to hit",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Take the hammer for nails and strike the block",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Lift the grippy handle hammer and hit the block",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Grab the nail-driving hammer to beat the block.",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Grab the hammer for nails, then hit the block",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Use the left arm to grab the silver hammer and beat",
+    "Pick the silver curved hammer head from the table and strike",
+    "Lift the silver hammer, then beat the block.",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Lift the hammer with claw-shaped end with the left arm then strike block"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005090.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005090.json
new file mode 100644
index 0000000000000000000000000000000000000000..973dbdf00d39f643b5a8a3713b29985bdc8b8a35
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005090.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the silver curved hammer head from the table and strike",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Pick up the nail-driving hammer and strike the block",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Use the right arm to take the hammer with claw-shaped end and strike",
+    "Pick up the silver hammer and use it on the block",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Take the grippy handle hammer and smash the block.",
+    "Lift the silver curved hammer head and hit the block.",
+    "Pick the nail-driving hammer and smash the block",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Use the right arm to grab the medium-sized metal hammer and beat",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Lift the silver hammer with the right arm then strike block",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Grab the hammer for nails to beat the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Take the silver hammer and beat the block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Use the right arm to take the hammer for nails and strike",
+    "Pick up the hammer for nails and use it on the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Take the grippy handle hammer and smash the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Use the right arm to grab the medium-sized metal hammer and beat",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Grab the silver curved hammer head to beat the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Take the nail-driving hammer and strike the block",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Catch the hammer for nails and use it on the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Hold the nail-driving hammer and pound the block.",
+    "Utilize the right arm to hold the grippy handle hammer and strike.",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Take the yellow and black hammer grip and beat the block"
+  ],
+  "unseen": [
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005155.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005155.json
new file mode 100644
index 0000000000000000000000000000000000000000..e166810a1833191deb9f357f7f34717d2abebc4d
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005155.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the grippy handle hammer, then hit the block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Lift the hammer for nails and hit the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Hold the nail-driving hammer and pound the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Hold the silver curved hammer head then hit the block",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Take the grippy handle hammer and strike the block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Take the grippy handle hammer and beat the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Lift the silver curved hammer head and hit the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Take the plastic handle metal hammer and strike the block",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Grab the silver hammer, then strike the block.",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Lift the silver curved hammer head and hit the block",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Take the black and yellow hammer grip and strike the block",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Take the nail-driving hammer and hammer the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Take the silver curved hammer head and strike the block",
+    "Take the hammer for nails and beat the block",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Catch the yellow and black hammer grip and use it on the block."
+  ],
+  "unseen": [
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005263.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005263.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd6c8697e15cc97649b952634cb9510fcd16f4d8
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005263.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Use the left arm to grab the nail-driving hammer and beat",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Grab the hammer for nails, then hit the block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Grab the silver hammer, then strike the block.",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Hold the silver hammer and pound the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Hold the nail-driving hammer then hit the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Lift the grippy handle hammer and hit the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Lift the plastic handle metal hammer with the left arm then strike block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Pick the silver hammer from the table and strike",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Use the silver hammer to hammer the block.",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Hold the silver curved hammer head then hit the block",
+    "Take the hammer for nails and strike the block",
+    "Lift the hammer for nails and hit the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Grab the medium-sized metal hammer with the left arm and hit block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005333.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005333.json
new file mode 100644
index 0000000000000000000000000000000000000000..2392120e53601b0ab31742ee820ec81178304c93
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005333.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the medium-sized metal hammer and hammer the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Hold the hammer for nails then hit the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Grab the black and yellow hammer grip using the right arm then pound block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Use the silver hammer to hammer the block.",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Use the right arm to grab the silver hammer and beat",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Take the hammer for nails and beat the block",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Grab the medium-sized metal hammer using the right arm and strike the block",
+    "Take the silver curved hammer head and strike the block",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Grab the silver hammer using the right arm and hit the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Lift the nail-driving hammer and hit the block.",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Pick the grippy handle hammer and strike the block.",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Pick the nail-driving hammer and smash the block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Grab the silver hammer and use it to hit",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Take the nail-driving hammer and beat the block",
+    "Lift the silver hammer with the right arm then strike block",
+    "Use the hammer for nails to hammer the block.",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Use the right arm to grab the hammer with claw-shaped end and beat block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Catch the silver hammer and use it on the block.",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Pick the nail-driving hammer and strike the block.",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block."
+  ],
+  "unseen": [
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005354.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005354.json
new file mode 100644
index 0000000000000000000000000000000000000000..43baa5814a5d2c2b7eb4b7cf2a0bb68224f3eec5
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005354.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Hold the plastic handle metal hammer then hit the block",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Take the grippy handle hammer and beat the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Take the silver hammer and smash the block.",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Pick the silver hammer and strike the block.",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Lift the silver hammer and hit the block",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Take the silver hammer using the right arm, hit the block.",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Hold the silver curved hammer head then hit the block",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Pick the silver hammer and smash the block",
+    "Take the silver curved hammer head and beat the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Use the right arm to take the hammer with claw-shaped end and strike",
+    "Take the silver hammer and strike the block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Pick up the hammer for nails and strike the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Take the silver hammer and strike the block",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Grab the silver hammer with the right arm and strike block",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Utilize the right arm to hold the grippy handle hammer and strike.",
+    "Lift the silver curved hammer head and hit the block",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Lift the silver curved hammer head and hit the block."
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10006002.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10006002.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9e578f10221153c46735ca567116412e57262e0
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10006002.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the grippy handle hammer and use it on the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Take the black and yellow hammer grip and beat the block",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Take the silver hammer and smash the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Take the grippy handle hammer and beat the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Grab the silver curved hammer head, then hit the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Take the handheld medium claw hammer and beat the block",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Use the left arm to take the hammer for nails and strike",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Pick up the silver curved hammer head and strike the block",
+    "Take the grippy handle hammer and beat the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Hold the nail-driving hammer and pound the block.",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Catch the hammer for nails and use it on the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Hold the silver hammer then hit the block",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Lift the medium-sized metal hammer and hit the block"
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10006006.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10006006.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9b8768f7614f06b98c9764fd73ba1414081a0d3
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10006006.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Lift the nail-driving hammer and hit the block.",
+    "Take the hammer for nails and hammer the block",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Grab the silver hammer using the left arm then pound block",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Pick the silver hammer and strike the block.",
+    "Take the hammer for nails and beat the block",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Take the black and yellow hammer grip and strike the block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Take the nail-driving hammer and smash the block.",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Beat the block after grabbing the hammer for nails",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick the hammer for nails from the table and strike",
+    "Grab the silver hammer to beat the block.",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Pick up the hammer for nails and strike the block",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Lift the silver hammer and hit the block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Hold the hammer for nails then hit the block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Catch the silver hammer and use it on the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Take the grippy handle hammer and strike the block",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Lift the silver hammer with the left arm then strike block",
+    "Use the left arm to take the silver hammer and strike",
+    "Beat the block after grabbing the hammer for nails",
+    "Take the silver curved hammer head and strike the block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "With the left arm, grab the yellow and black hammer grip and hit the block"
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10006014.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10006014.json
new file mode 100644
index 0000000000000000000000000000000000000000..828bfe9577706efa31a5bceefb833e0a01ae40c7
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10006014.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Grab the nail-driving hammer and use it to hit",
+    "Take the silver curved hammer head and smash the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Hold the nail-driving hammer and pound the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Lift the silver curved hammer head and hit the block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Catch the silver hammer and use it on the block.",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Take the silver curved hammer head and beat the block",
+    "Pick the hammer for nails from the table and strike",
+    "Lift the silver hammer and hit the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Hold the hammer for nails then hit the block",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Grab the grippy handle hammer to beat the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Take the silver curved hammer head and strike the block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Take the silver hammer and strike the block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Take the silver hammer and beat the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Use the left arm to grab the silver hammer and beat",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Grab the silver curved hammer head with the left arm and hit block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10006278.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10006278.json
new file mode 100644
index 0000000000000000000000000000000000000000..c64f43a5f5e6df4cc17f159785b660febbae7b50
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10006278.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Take the grippy handle hammer and strike the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Pick the hammer for nails from the table and strike",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Use the hammer for nails to hammer the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Pick up the silver hammer and strike the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Take the hammer for nails and strike the block",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Hold the silver hammer then hit the block",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Lift the silver hammer, then beat the block.",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Use the left arm to grab the nail-driving hammer and beat",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Pick the nail-driving hammer and smash the block",
+    "Pick up the silver hammer and strike the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Grab the hammer with claw-shaped end and use it to hit"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10007292.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10007292.json
new file mode 100644
index 0000000000000000000000000000000000000000..01d17c38f70c52fb74dc8f15f2e06da8c06cf6fa
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10007292.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the silver hammer using the left arm and strike the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Lift the grippy handle hammer and hit the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Take the nail-driving hammer and hammer the block",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Take the grippy handle hammer and beat the block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Take the black and yellow hammer grip and strike the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Hold the nail-driving hammer and pound the block.",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Grab the silver hammer with the left arm and hit block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Hold the silver hammer then hit the block",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "Pick the hammer for nails and strike the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "Take the hammer for nails and beat the block",
+    "Lift the silver hammer and hit the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Take the black and yellow hammer grip and strike the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Grab the silver hammer with the left arm and hit block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Pick the silver hammer from the table and strike",
+    "Pick the silver hammer and smash the block"
+  ],
+  "unseen": [
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008138.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008138.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dae2c6bba8b9fbd020eaf6090d1c6bbdccf783e
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008138.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to take the hammer for nails and strike",
+    "Lift the nail-driving hammer and hit the block.",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Grab the silver hammer, then strike the block.",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Take the hammer for nails and strike the block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Pick up the silver hammer and use it on the block",
+    "Pick the hammer for nails and strike the block.",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Use the silver hammer to hammer the block.",
+    "Take the silver hammer and hammer the block",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Lift the grippy handle hammer and hit the block",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick up the silver curved hammer head and strike the block",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Take the hammer for nails and beat the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Grab the nail-driving hammer and use it to hit",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Lift the silver curved hammer head and hit the block.",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Grab the hammer for nails, then strike the block.",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "Pick the medium-sized metal hammer with the right arm and hit the block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Grab the silver hammer using the right arm and hit the block",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Pick the nail-driving hammer and smash the block",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the hammer for nails with the right arm and hit block",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Lift the handheld medium claw hammer with the right arm then strike block",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Grab the hammer for nails to beat the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Take the grippy handle hammer and beat the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Take the hammer for nails and smash the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Lift the black and yellow hammer grip, then beat the block."
+  ],
+  "unseen": [
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008162.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008162.json
new file mode 100644
index 0000000000000000000000000000000000000000..c440272890a683385b5556dd969dddeade72db59
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008162.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the black and yellow hammer grip and smash the block",
+    "Take the hammer for nails and smash the block.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Lift the silver curved hammer head, then beat the block.",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Use the grippy handle hammer to hammer the block.",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Lift the hammer for nails and hit the block.",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the hammer for nails, then hit the block",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Hold the nail-driving hammer then hit the block",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Grab the silver hammer using the left arm then pound block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Pick the hammer for nails and smash the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Grab the grippy handle hammer to beat the block.",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Take the grippy handle hammer and strike the block",
+    "Take the hammer for nails and strike the block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Hold the nail-driving hammer then hit the block",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Use the left arm to grab the handheld medium claw hammer and beat block"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008166.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008166.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a4e5d0ce6a81ef116c7258b11d6ff23a2e902c3
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008166.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Pick up the nail-driving hammer and strike the block",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Grab the silver curved hammer head to beat the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Pick the silver curved hammer head from the table and strike",
+    "Take the medium-sized metal hammer and strike the block",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Grab the silver hammer with the left arm and hit block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Hold the hammer for nails and pound the block.",
+    "Pick the silver hammer and smash the block",
+    "Lift the silver hammer with the left arm then strike block",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Pick up the silver hammer and use it on the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the silver hammer, then strike the block.",
+    "Pick the silver hammer with the left arm and hit the block",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Take the plastic handle metal hammer and strike the block",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Lift the hammer with claw-shaped end and hit the block."
+  ],
+  "unseen": [
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008195.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008195.json
new file mode 100644
index 0000000000000000000000000000000000000000..187b0b2d9d2ccea241d279476b1010b1700b1b74
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008195.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the hammer for nails and strike the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Pick the grippy handle hammer and smash the block",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Lift the medium-sized metal hammer and hit the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Take the silver curved hammer head and strike the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Use the left arm to take the hammer for nails and strike",
+    "Pick the hammer for nails from the table and strike",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Take the grippy handle hammer and beat the block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Pick the silver hammer and strike the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Lift the hammer with two-tone handle and hit the block",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Lift the silver hammer, then beat the block.",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Use the hammer for nails to hammer the block.",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Take the silver hammer and beat the block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Hold the hammer for nails then hit the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Pick the silver hammer from the table and strike",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Grab the grippy handle hammer to beat the block.",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Pick up the hammer for nails using the left arm then beat"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008258.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008258.json
new file mode 100644
index 0000000000000000000000000000000000000000..52cd117d53849361e7a45a74388674452f5462ad
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008258.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the grippy handle hammer and smash the block",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Take the grippy handle hammer and beat the block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Grab the hammer for nails, then hit the block",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Pick up the silver hammer and use it on the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Catch the hammer for nails and use it on the block.",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Lift the hammer for nails with the left arm then strike block",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Pick the hammer for nails from the table and strike",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Take the nail-driving hammer and hammer the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Pick the hammer for nails and smash the block",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Take the grippy handle hammer and beat the block",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Use the left arm to take the hammer for nails and strike",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Use the left arm to grab the nail-driving hammer and beat",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Grab the silver hammer with the left arm and hit block",
+    "Pick the hammer for nails and strike the block.",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick the silver hammer from the table and strike",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Grab the hammer for nails to beat the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Take the hammer for nails and hammer the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Grab the black and yellow hammer grip with the left arm and beat the block."
+  ],
+  "unseen": [
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008293.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008293.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa4cbf7eb2947d9b4d6c4b404ea7ffdff2cb6729
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008293.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the silver hammer and use it on the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Grab the silver hammer, then hit the block",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Grab the silver hammer and use it to hit",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Pick the silver hammer from the table and strike",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Take the grippy handle hammer and strike the block",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Pick the silver curved hammer head and smash the block",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Grab the hammer for nails with the right arm and hit block",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Use the right arm to take the hammer for nails and strike",
+    "Pick up the silver curved hammer head with the right arm, strike the block.",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Lift the silver hammer and hit the block.",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Take the hammer for nails and beat the block",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Take the silver hammer and hammer the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Take the hammer for nails and smash the block.",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Use the right arm to grab the silver hammer and beat block",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Make the right arm grab the medium-sized metal hammer and strike the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Use the silver hammer to hammer the block.",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Grab the black and yellow hammer grip using the right arm then pound block",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Grab the silver hammer using the right arm and hit the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Take the hammer with claw-shaped end and beat the block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block"
+  ]
+}
\ No newline at end of file