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piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001002.json

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+{
+  "seen": [
+    "Use the left arm to move the yellow label sauce can beside the cylindrical kitchenpot with flat edges",
+    "Take the yellow label sauce can with the left arm, bring it, and set next to the kitchenpot with two side handles",
+    "Grab the sauce can for condiments, move it to the cylindrical kitchenpot with flat edges's side",
+    "Move the yellow label sauce can to the grey kitchenpot with dark circle inside with the left arm",
+    "Move the printed label sauce can to be next to the kitchenpot with two side handles",
+    "Grab the sauce can with brown lid with the left arm and move it close to the grey kitchenpot with dark circle inside",
+    "Place the sauce can with ingredient information next to the kitchenpot with sturdy plastic body",
+    "Take the sauce can with ingredient information to the cylindrical kitchenpot with flat edges using the left arm",
+    "Move the sauce can for condiments beside the matte-finished kitchenpot after lifting it",
+    "Take the smooth cylindrical sauce can with the left arm, place it near the cylindrical kitchenpot with flat edges",
+    "Grab the yellow label sauce can with the left arm and set it near the grey kitchenpot with dark circle inside",
+    "Lift the sauce can with ingredient information and set it beside the kitchenpot with black rectangular panel",
+    "Use the left arm to grab the printed label sauce can and transfer it near the kitchenpot with sturdy plastic body",
+    "Use the left arm to grab the yellow and brown sauce can, move it beside the round kitchenpot",
+    "Use the left arm to pick the yellow and brown sauce can up and set it beside the kitchenpot with two side handles",
+    "Pick the sauce can with ingredient information up with the left arm then place near the light grey kitchenpot with dark top",
+    "Lift the sauce can with brown lid and set it next to the grey kitchenpot with dark circle inside",
+    "Set the brown sauce can right next to the round kitchenpot",
+    "Lift the brown top sauce can, then place it next to the matte-finished kitchenpot",
+    "Using the left arm, lift the sauce can for condiments and place it by the round kitchenpot",
+    "Lift the cylindrical sauce can and move it near the kitchenpot with black base",
+    "Use the left arm to lift the sauce can with ingredient information and place it near the grey kitchenpot",
+    "Use the left arm to lift the printed label sauce can and place it next to the grey kitchenpot",
+    "Place the brown sauce can beside the grey kitchenpot with dark circle inside after picking it up",
+    "Lift the printed label sauce can using the left arm and drop it beside the kitchenpot with black rectangular panel",
+    "Lift the printed label sauce can and place it next to the kitchenpot with black rectangular panel",
+    "Set the sauce can with brown lid near the grey kitchenpot with dark circle inside after picking it up",
+    "Use the left arm to take the brown top sauce can to the kitchenpot with black base",
+    "Pick the brown sauce can up and carefully position it beside the kitchenpot with black base",
+    "Pick up the smooth cylindrical sauce can using the left arm, transfer it beside the kitchenpot with sturdy plastic body",
+    "Bring the brown top sauce can over and set it near the grey kitchenpot with dark circle inside",
+    "Grab the yellow and brown sauce can with the left arm and position it beside the light grey kitchenpot with dark top",
+    "With the left arm, grab the sauce can for condiments and move to the light grey kitchenpot with dark top",
+    "Take the brown top sauce can using the left arm, set it next to the kitchenpot with sturdy plastic body",
+    "Use the left arm to pick the sauce can with ingredient information, position it near the kitchenpot with two side handles",
+    "Pick the sauce can with brown lid with the left arm and relocate it near the light grey kitchenpot with dark top",
+    "Use the left arm to lift the brown sauce can, then move it next to the cylindrical kitchenpot with flat edges",
+    "Lift the metal sauce can, place it by the smooth kitchenpot with black button",
+    "Pick the printed label sauce can up and move it next to the kitchenpot with black rectangular panel",
+    "Grab the sauce can for condiments, move it, and place by the kitchenpot with red indicator light",
+    "Grab the metal sauce can, shift it, and place it close to the kitchenpot with red indicator light",
+    "Lift the brown sauce can and set it next to the round kitchenpot",
+    "Lift the brown sauce can using the left arm and position it by the kitchenpot with black base",
+    "Use the left arm to grab the brown top sauce can and move it next to the kitchenpot with black rectangular panel",
+    "Use the left arm to grab the sauce can with ingredient information and move it beside the round kitchenpot",
+    "Move the brown top sauce can from its spot to near the matte-finished kitchenpot",
+    "Grab the yellow and brown sauce can and move it close to the light grey kitchenpot with dark top",
+    "Pick up the yellow label sauce can with the left arm and set by the kitchenpot with black rectangular panel",
+    "Pick up the sauce can for condiments and put it beside the grey kitchenpot",
+    "Pick the yellow label sauce can and position it next to the kitchenpot with red indicator light",
+    "Use the left arm to move the yellow and brown sauce can beside the kitchenpot with black rectangular panel",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the kitchenpot with sturdy plastic body",
+    "Grab the printed label sauce can, move it to the grey kitchenpot's side",
+    "Move the medium sauce can to the kitchenpot with sturdy plastic body with the left arm",
+    "Move the brown sauce can to be next to the matte-finished kitchenpot",
+    "Grab the printed label sauce can with the left arm and move it close to the kitchenpot with black base",
+    "Place the brown sauce can next to the kitchenpot with sturdy plastic body",
+    "Take the brown sauce can to the light grey kitchenpot with dark top using the left arm",
+    "Move the cylindrical sauce can beside the round kitchenpot after lifting it",
+    "Take the cylindrical sauce can with the left arm, place it near the grey kitchenpot",
+    "Grab the sauce can with brown lid with the left arm and set it near the cylindrical kitchenpot with flat edges",
+    "Lift the medium sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label sauce can and transfer it near the matte-finished kitchenpot",
+    "Use the left arm to grab the brown top sauce can, move it beside the matte-finished kitchenpot",
+    "Use the left arm to pick the smooth cylindrical sauce can up and set it beside the round kitchenpot",
+    "Pick the yellow and brown sauce can up with the left arm then place near the grey kitchenpot with dark circle inside",
+    "Lift the sauce can for condiments and set it next to the kitchenpot with black base",
+    "Set the brown sauce can right next to the grey kitchenpot",
+    "Lift the printed label sauce can, then place it next to the light grey kitchenpot with dark top",
+    "Using the left arm, lift the medium sauce can and place it by the cylindrical kitchenpot with flat edges",
+    "Lift the cylindrical sauce can and move it near the round kitchenpot",
+    "Use the left arm to lift the medium sauce can and place it near the kitchenpot with sturdy plastic body",
+    "Use the left arm to lift the medium sauce can and place it next to the cylindrical kitchenpot with flat edges",
+    "Place the sauce can with brown lid beside the cylindrical kitchenpot with flat edges after picking it up",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the kitchenpot with black base",
+    "Lift the brown top sauce can and place it next to the kitchenpot with black base",
+    "Set the cylindrical sauce can near the round kitchenpot after picking it up",
+    "Use the left arm to take the smooth cylindrical sauce can to the smooth kitchenpot with black button",
+    "Pick the yellow label sauce can up and carefully position it beside the smooth kitchenpot with black button",
+    "Pick up the metal sauce can using the left arm, transfer it beside the grey kitchenpot",
+    "Bring the sauce can with ingredient information over and set it near the kitchenpot with black rectangular panel",
+    "Grab the sauce can with ingredient information with the left arm and position it beside the kitchenpot with black rectangular panel",
+    "With the left arm, grab the brown top sauce can and move to the cylindrical kitchenpot with flat edges",
+    "Take the metal sauce can using the left arm, set it next to the kitchenpot with two side handles",
+    "Use the left arm to pick the cylindrical sauce can, position it near the matte-finished kitchenpot",
+    "Pick the sauce can for condiments with the left arm and relocate it near the kitchenpot with black rectangular panel",
+    "Use the left arm to lift the brown sauce can, then move it next to the cylindrical kitchenpot with flat edges",
+    "Lift the sauce can with ingredient information, place it by the round kitchenpot",
+    "Pick the printed label sauce can up and move it next to the kitchenpot with black base",
+    "Grab the yellow label sauce can, move it, and place by the kitchenpot with red indicator light",
+    "Grab the yellow and brown sauce can, shift it, and place it close to the kitchenpot with red indicator light",
+    "Lift the smooth cylindrical sauce can and set it next to the kitchenpot with two side handles",
+    "Lift the brown top sauce can using the left arm and position it by the kitchenpot with two side handles",
+    "Use the left arm to grab the brown top sauce can and move it next to the matte-finished kitchenpot",
+    "Use the left arm to grab the sauce can with ingredient information and move it beside the kitchenpot with black rectangular panel",
+    "Move the yellow and brown sauce can from its spot to near the kitchenpot with two side handles",
+    "Grab the brown top sauce can and move it close to the kitchenpot with black rectangular panel",
+    "Pick up the smooth cylindrical sauce can with the left arm and set by the round kitchenpot",
+    "Pick up the brown top sauce can and put it beside the kitchenpot with two side handles",
+    "Pick the yellow and brown sauce can and position it next to the kitchenpot with sturdy plastic body"
+  ],
+  "unseen": [
+    "Use the left arm to grab the metal body sauce can and place it by the medium kitchenpot",
+    "Pick up the sauce can with smooth surface and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the medium kitchenpot",
+    "Grab the metal body sauce can and move it near the medium kitchenpot",
+    "Lift the sauce can with smooth surface and set it beside the medium kitchenpot",
+    "Grab the hand-sized sauce can and place it beside the compact kitchenpot with lid-like surface",
+    "Grab the metal body sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the metal body sauce can, move it near the kitchenpot for cooking food",
+    "Grab the sauce can with smooth surface and place it near the compact kitchenpot with lid-like surface",
+    "Pick up the hand-sized sauce can and set it beside the medium kitchenpot",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the compact kitchenpot with lid-like surface",
+    "Pick up the metal body sauce can and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the hand-sized sauce can and move it near the medium kitchenpot",
+    "Lift the sauce can with smooth surface and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the hand-sized sauce can and place it beside the medium kitchenpot",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot for cooking food",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the kitchenpot for cooking food",
+    "Grab the hand-sized sauce can and place it near the medium kitchenpot",
+    "Pick up the sauce can with smooth surface and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the kitchenpot for cooking food",
+    "Pick up the sauce can with smooth surface and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the medium kitchenpot",
+    "Grab the sauce can with smooth surface and move it near the compact kitchenpot with lid-like surface",
+    "Lift the hand-sized sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the hand-sized sauce can and place it beside the medium kitchenpot",
+    "Grab the hand-sized sauce can and set it beside the kitchenpot for cooking food",
+    "Use the left arm to pick up the metal body sauce can, move it near the kitchenpot for cooking food",
+    "Grab the sauce can with smooth surface and place it near the kitchenpot for cooking food",
+    "Pick up the metal body sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to grab the hand-sized sauce can and place it by the kitchenpot for cooking food",
+    "Pick up the metal body sauce can and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the medium kitchenpot",
+    "Grab the metal body sauce can and move it near the kitchenpot for cooking food",
+    "Lift the metal body sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the metal body sauce can and place it beside the compact kitchenpot with lid-like surface",
+    "Grab the hand-sized sauce can and set it beside the kitchenpot for cooking food",
+    "Use the left arm to pick up the metal body sauce can, move it near the medium kitchenpot",
+    "Grab the sauce can with smooth surface and place it near the compact kitchenpot with lid-like surface",
+    "Pick up the sauce can with smooth surface and set it beside the kitchenpot for cooking food",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the kitchenpot for cooking food",
+    "Pick up the hand-sized sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the kitchenpot for cooking food",
+    "Grab the sauce can with smooth surface and move it near the compact kitchenpot with lid-like surface",
+    "Lift the sauce can with smooth surface and set it beside the medium kitchenpot",
+    "Grab the sauce can with smooth surface and place it beside the kitchenpot for cooking food",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot for cooking food",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the kitchenpot for cooking food",
+    "Grab the hand-sized sauce can and place it near the kitchenpot for cooking food",
+    "Pick up the hand-sized sauce can and set it beside the medium kitchenpot",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the medium kitchenpot",
+    "Pick up the sauce can with smooth surface and move it near the medium kitchenpot",
+    "Use the left arm to pick up the metal body sauce can and move it beside the kitchenpot for cooking food",
+    "Grab the metal body sauce can and move it near the medium kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the metal body sauce can and place it beside the kitchenpot for cooking food",
+    "Grab the hand-sized sauce can and set it beside the kitchenpot for cooking food",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the compact kitchenpot with lid-like surface",
+    "Grab the hand-sized sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Pick up the hand-sized sauce can and set it beside the medium kitchenpot",
+    "Use the left arm to grab the metal body sauce can and place it by the compact kitchenpot with lid-like surface",
+    "Pick up the sauce can with smooth surface and move it near the medium kitchenpot",
+    "Use the left arm to pick up the metal body sauce can and move it beside the kitchenpot for cooking food",
+    "Grab the metal body sauce can and move it near the kitchenpot for cooking food",
+    "Lift the sauce can with smooth surface and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with smooth surface and place it beside the compact kitchenpot with lid-like surface",
+    "Grab the metal body sauce can and set it beside the medium kitchenpot",
+    "Use the left arm to pick up the metal body sauce can, move it near the medium kitchenpot",
+    "Grab the metal body sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Pick up the sauce can with smooth surface and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to grab the hand-sized sauce can and place it by the kitchenpot for cooking food",
+    "Pick up the hand-sized sauce can and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the metal body sauce can and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the hand-sized sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Lift the metal body sauce can and set it beside the medium kitchenpot",
+    "Grab the hand-sized sauce can and place it beside the medium kitchenpot",
+    "Grab the metal body sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the compact kitchenpot with lid-like surface",
+    "Grab the metal body sauce can and place it near the kitchenpot for cooking food",
+    "Pick up the metal body sauce can and set it beside the medium kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and place it by the medium kitchenpot",
+    "Pick up the sauce can with smooth surface and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the medium kitchenpot",
+    "Grab the metal body sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Lift the hand-sized sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the metal body sauce can and place it beside the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot for cooking food",
+    "Use the left arm to pick up the metal body sauce can, move it near the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with smooth surface and place it near the compact kitchenpot with lid-like surface",
+    "Pick up the sauce can with smooth surface and set it beside the kitchenpot for cooking food",
+    "Use the left arm to grab the metal body sauce can and place it by the kitchenpot for cooking food",
+    "Pick up the sauce can with smooth surface and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the metal body sauce can and move it beside the medium kitchenpot",
+    "Grab the hand-sized sauce can and move it near the medium kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the medium kitchenpot",
+    "Grab the metal body sauce can and place it beside the kitchenpot for cooking food",
+    "Grab the sauce can with smooth surface and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the kitchenpot for cooking food",
+    "Grab the metal body sauce can and place it near the kitchenpot for cooking food",
+    "Pick up the hand-sized sauce can and set it beside the compact kitchenpot with lid-like surface"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001003.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium sauce can with white lid, move it to the light grey kitchenpot with dark top's side",
+    "Set the round sauce can with yellow pattern near the kitchenpot with sturdy plastic body after picking it up",
+    "Lift the plastic lid sauce can and move it near the kitchenpot with two side handles",
+    "Lift the white plastic lid sauce can and set it next to the kitchenpot with sturdy plastic body",
+    "Use the right arm to grab the brown and yellow cylindrical sauce can and move it beside the light grey kitchenpot with dark top",
+    "Lift the cylindrical sauce can, then place it next to the cylindrical kitchenpot with flat edges",
+    "Using the right arm, lift the cylindrical sauce can and place it by the kitchenpot with black rectangular panel",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the smooth kitchenpot with black button",
+    "Use the right arm to take the hand-sized sauce can to the grey kitchenpot with dark circle inside",
+    "With the right arm, grab the sauce can with sealed top and move to the kitchenpot with sturdy plastic body",
+    "Pick up the medium sauce can with white lid with the right arm and set by the kitchenpot with sturdy plastic body",
+    "Use the right arm to grab the cylindrical sauce can and move it next to the cylindrical kitchenpot with flat edges",
+    "Move the plastic lid sauce can from its spot to near the grey kitchenpot with dark circle inside",
+    "Grab the sauce can with the right arm and set it near the kitchenpot with black base",
+    "Place the hand-sized sauce can next to the matte-finished kitchenpot",
+    "Bring the medium sauce can with white lid over and set it near the round kitchenpot",
+    "Move the medium sauce can with white lid to be next to the light grey kitchenpot with dark top",
+    "Grab the sauce can with sealed top, move it, and place by the cylindrical kitchenpot with flat edges",
+    "Lift the round sauce can with yellow pattern and set it next to the light grey kitchenpot with dark top",
+    "Pick the sauce can up with the right arm then place near the cylindrical kitchenpot with flat edges",
+    "Use the right arm to lift the brown and yellow cylindrical sauce can and place it near the cylindrical kitchenpot with flat edges",
+    "Pick up the brown and yellow cylindrical sauce can using the right arm, transfer it beside the kitchenpot with black rectangular panel",
+    "Use the right arm to grab the rounded-edge sauce can and transfer it near the matte-finished kitchenpot",
+    "Use the right arm to move the sauce can beside the kitchenpot with black base",
+    "Lift the cylindrical sauce can, place it by the round kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the matte-finished kitchenpot",
+    "Use the right arm to pick the sauce can with glossy finish, position it near the smooth kitchenpot with black button",
+    "Take the sauce can with sealed top with the right arm, place it near the kitchenpot with red indicator light",
+    "Pick the hand-sized sauce can up and move it next to the kitchenpot with black base",
+    "Pick the white plastic lid sauce can with the right arm and relocate it near the light grey kitchenpot with dark top",
+    "Pick the sauce can and position it next to the kitchenpot with black rectangular panel",
+    "Grab the sauce can with glossy finish and move it close to the kitchenpot with black base",
+    "Take the sauce can with sealed top with the right arm, bring it, and set next to the kitchenpot with red indicator light",
+    "Take the hand-sized sauce can to the smooth kitchenpot with black button using the right arm",
+    "Lift the sauce can with glossy finish using the right arm and position it by the kitchenpot with sturdy plastic body",
+    "Move the white plastic lid sauce can beside the grey kitchenpot with dark circle inside after lifting it",
+    "Grab the yellow brown sauce can with the right arm and position it beside the kitchenpot with black rectangular panel",
+    "Take the cylindrical sauce can using the right arm, set it next to the cylindrical kitchenpot with flat edges",
+    "Use the right arm to lift the plastic lid sauce can, then move it next to the matte-finished kitchenpot",
+    "Grab the sauce can with the right arm and move it close to the kitchenpot with sturdy plastic body",
+    "Pick up the yellow brown sauce can and put it beside the light grey kitchenpot with dark top",
+    "Lift the round sauce can with yellow pattern and place it next to the kitchenpot with black rectangular panel",
+    "Set the sauce can right next to the matte-finished kitchenpot",
+    "Use the right arm to pick the cylindrical sauce can up and set it beside the light grey kitchenpot with dark top",
+    "Lift the sauce can with sealed top and set it beside the kitchenpot with sturdy plastic body",
+    "Place the sauce can with glossy finish beside the kitchenpot with sturdy plastic body after picking it up",
+    "Use the right arm to lift the plastic lid sauce can and place it next to the kitchenpot with sturdy plastic body",
+    "Lift the white plastic lid sauce can using the right arm and drop it beside the kitchenpot with two side handles",
+    "Move the brown and yellow cylindrical sauce can to the kitchenpot with black rectangular panel with the right arm",
+    "Use the right arm to grab the white plastic lid sauce can, move it beside the kitchenpot with black rectangular panel",
+    "Grab the white plastic lid sauce can, move it to the kitchenpot with two side handles's side",
+    "Set the rounded-edge sauce can near the matte-finished kitchenpot after picking it up",
+    "Lift the hand-sized sauce can and move it near the cylindrical kitchenpot with flat edges",
+    "Lift the yellow brown sauce can and set it next to the round kitchenpot",
+    "Use the right arm to grab the white plastic lid sauce can and move it beside the light grey kitchenpot with dark top",
+    "Lift the plastic lid sauce can, then place it next to the round kitchenpot",
+    "Using the right arm, lift the cylindrical sauce can and place it by the grey kitchenpot with dark circle inside",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the grey kitchenpot",
+    "Use the right arm to take the plastic lid sauce can to the grey kitchenpot with dark circle inside",
+    "With the right arm, grab the sauce can with glossy finish and move to the kitchenpot with black base",
+    "Pick up the sauce can with sealed top with the right arm and set by the grey kitchenpot with dark circle inside",
+    "Use the right arm to grab the sauce can and move it next to the grey kitchenpot",
+    "Move the sauce can with sealed top from its spot to near the kitchenpot with black base",
+    "Grab the round sauce can with yellow pattern with the right arm and set it near the cylindrical kitchenpot with flat edges",
+    "Place the sauce can next to the kitchenpot with two side handles",
+    "Bring the sauce can with sealed top over and set it near the matte-finished kitchenpot",
+    "Move the plastic lid sauce can to be next to the grey kitchenpot",
+    "Grab the sauce can with glossy finish, move it, and place by the kitchenpot with two side handles",
+    "Lift the sauce can and set it next to the cylindrical kitchenpot with flat edges",
+    "Pick the sauce can with sealed top up with the right arm then place near the matte-finished kitchenpot",
+    "Use the right arm to lift the rounded-edge sauce can and place it near the grey kitchenpot with dark circle inside",
+    "Pick up the white plastic lid sauce can using the right arm, transfer it beside the smooth kitchenpot with black button",
+    "Use the right arm to grab the sauce can with sealed top and transfer it near the cylindrical kitchenpot with flat edges",
+    "Use the right arm to move the yellow brown sauce can beside the light grey kitchenpot with dark top",
+    "Lift the cylindrical sauce can, place it by the kitchenpot with red indicator light",
+    "Pick the sauce can with sealed top up and carefully position it beside the smooth kitchenpot with black button",
+    "Use the right arm to pick the brown and yellow cylindrical sauce can, position it near the grey kitchenpot with dark circle inside",
+    "Take the brown and yellow cylindrical sauce can with the right arm, place it near the kitchenpot with sturdy plastic body",
+    "Pick the sauce can with sealed top up and move it next to the round kitchenpot",
+    "Pick the brown and yellow cylindrical sauce can with the right arm and relocate it near the kitchenpot with black rectangular panel",
+    "Pick the plastic lid sauce can and position it next to the grey kitchenpot",
+    "Grab the cylindrical sauce can and move it close to the round kitchenpot",
+    "Take the sauce can with glossy finish with the right arm, bring it, and set next to the kitchenpot with black rectangular panel",
+    "Take the round sauce can with yellow pattern to the cylindrical kitchenpot with flat edges using the right arm",
+    "Lift the medium sauce can with white lid using the right arm and position it by the grey kitchenpot",
+    "Move the brown and yellow cylindrical sauce can beside the kitchenpot with red indicator light after lifting it",
+    "Grab the brown and yellow cylindrical sauce can with the right arm and position it beside the kitchenpot with red indicator light",
+    "Take the cylindrical sauce can using the right arm, set it next to the kitchenpot with black rectangular panel",
+    "Use the right arm to lift the yellow brown sauce can, then move it next to the kitchenpot with two side handles",
+    "Grab the medium sauce can with white lid with the right arm and move it close to the light grey kitchenpot with dark top",
+    "Pick up the sauce can and put it beside the kitchenpot with sturdy plastic body",
+    "Lift the medium sauce can with white lid and place it next to the smooth kitchenpot with black button",
+    "Set the medium sauce can with white lid right next to the kitchenpot with black rectangular panel",
+    "Use the right arm to pick the sauce can up and set it beside the grey kitchenpot with dark circle inside",
+    "Lift the sauce can with glossy finish and set it beside the kitchenpot with red indicator light",
+    "Place the sauce can with sealed top beside the kitchenpot with sturdy plastic body after picking it up",
+    "Use the right arm to lift the medium sauce can with white lid and place it next to the kitchenpot with black base",
+    "Lift the brown and yellow cylindrical sauce can using the right arm and drop it beside the smooth kitchenpot with black button",
+    "Move the sauce can to the cylindrical kitchenpot with flat edges with the right arm",
+    "Use the right arm to grab the sauce can, move it beside the matte-finished kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the smooth sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the kitchenpot for cooking food",
+    "Pick up the smooth sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the brown sauce can with top lid and place it near the compact kitchenpot with lid-like surface",
+    "Grab the brown sauce can with top lid and move it near the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the medium kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot for cooking food",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot for cooking food",
+    "Use the right arm to grab the smooth sauce can and place it by the kitchenpot for cooking food",
+    "Lift the smooth sauce can and set it beside the kitchenpot for cooking food",
+    "Pick up the smooth sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the smooth sauce can, move it near the compact kitchenpot with lid-like surface",
+    "Pick up the yellow label on sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the smooth sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Grab the yellow label on sauce can and move it near the kitchenpot for cooking food",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the smooth sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the smooth sauce can and place it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to grab the smooth sauce can and place it by the kitchenpot for cooking food",
+    "Lift the brown sauce can with top lid and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the brown sauce can with top lid and move it near the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the compact kitchenpot with lid-like surface",
+    "Pick up the brown sauce can with top lid and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the smooth sauce can and place it near the kitchenpot for cooking food",
+    "Grab the smooth sauce can and move it near the medium kitchenpot",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the medium kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the smooth sauce can and place it beside the medium kitchenpot",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the medium kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the brown sauce can with top lid and move it near the medium kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the compact kitchenpot with lid-like surface",
+    "Pick up the brown sauce can with top lid and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the brown sauce can with top lid and place it near the medium kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot for cooking food",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the smooth sauce can and set it beside the medium kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot for cooking food",
+    "Use the right arm to grab the smooth sauce can and place it by the compact kitchenpot with lid-like surface",
+    "Lift the brown sauce can with top lid and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the yellow label on sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the kitchenpot for cooking food",
+    "Pick up the yellow label on sauce can and set it beside the medium kitchenpot",
+    "Grab the smooth sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Grab the yellow label on sauce can and move it near the medium kitchenpot",
+    "Use the right arm to pick up the smooth sauce can and move it beside the kitchenpot for cooking food",
+    "Grab the smooth sauce can and set it beside the medium kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot for cooking food",
+    "Use the right arm to grab the smooth sauce can and place it by the kitchenpot for cooking food",
+    "Lift the smooth sauce can and set it beside the kitchenpot for cooking food",
+    "Pick up the yellow label on sauce can and move it near the medium kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the kitchenpot for cooking food",
+    "Pick up the yellow label on sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the smooth sauce can and place it near the medium kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the smooth sauce can and set it beside the medium kitchenpot",
+    "Grab the smooth sauce can and place it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the kitchenpot for cooking food",
+    "Lift the smooth sauce can and set it beside the kitchenpot for cooking food",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot for cooking food",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the kitchenpot for cooking food",
+    "Pick up the smooth sauce can and set it beside the kitchenpot for cooking food",
+    "Grab the smooth sauce can and place it near the kitchenpot for cooking food",
+    "Grab the yellow label on sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the smooth sauce can and set it beside the medium kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the medium kitchenpot",
+    "Use the right arm to grab the smooth sauce can and place it by the medium kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the medium kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot for cooking food",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the compact kitchenpot with lid-like surface",
+    "Pick up the yellow label on sauce can and set it beside the medium kitchenpot",
+    "Grab the smooth sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Grab the brown sauce can with top lid and move it near the medium kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the kitchenpot for cooking food",
+    "Grab the smooth sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the smooth sauce can and place it beside the medium kitchenpot",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the kitchenpot for cooking food",
+    "Lift the smooth sauce can and set it beside the medium kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot for cooking food",
+    "Use the right arm to pick up the smooth sauce can, move it near the kitchenpot for cooking food",
+    "Pick up the brown sauce can with top lid and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the smooth sauce can and place it near the medium kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot for cooking food",
+    "Use the right arm to pick up the smooth sauce can and move it beside the medium kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the medium kitchenpot",
+    "Grab the smooth sauce can and place it beside the kitchenpot for cooking food",
+    "Use the right arm to grab the smooth sauce can and place it by the medium kitchenpot",
+    "Lift the smooth sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot for cooking food",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the medium kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the medium kitchenpot",
+    "Grab the yellow label on sauce can and place it near the medium kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot for cooking food",
+    "Grab the smooth sauce can and place it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to grab the yellow label on sauce can and place it by the kitchenpot for cooking food",
+    "Lift the yellow label on sauce can and set it beside the medium kitchenpot"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001006.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the black kitchenpot with plastic lid handle",
+    "Pick the sauce can with the right arm and relocate it near the cooking kitchenpot with sturdy handles",
+    "Use the right arm to grab the white plastic lid sauce can and move it beside the black kitchenpot with silver and black handles",
+    "Use the right arm to take the round sauce can with yellow pattern to the cooking kitchenpot with sturdy handles",
+    "Lift the white plastic lid sauce can and set it next to the kitchenpot with metallic round lid",
+    "Lift the sauce can with sealed top using the right arm and position it by the black kitchenpot with round lid",
+    "Use the right arm to pick the medium sauce can with white lid up and set it beside the kitchenpot with metallic round lid",
+    "Place the medium sauce can with white lid beside the black kitchenpot with round lid after picking it up",
+    "With the right arm, grab the white plastic lid sauce can and move to the cooking kitchenpot with sturdy handles",
+    "Use the right arm to grab the white plastic lid sauce can and move it next to the black kitchenpot with flat lid",
+    "Use the right arm to grab the brown and yellow cylindrical sauce can, move it beside the black metal kitchenpot",
+    "Pick the white plastic lid sauce can up with the right arm then place near the black cooking pot with silver handles",
+    "Take the rounded-edge sauce can with the right arm, bring it, and set next to the black kitchenpot with silver handle bars",
+    "Pick the rounded-edge sauce can up and move it next to the black cooking pot with silver handles",
+    "Pick up the yellow brown sauce can using the right arm, transfer it beside the black kitchenpot with silver and black handles",
+    "Place the sauce can with sealed top next to the kitchenpot with metallic round lid",
+    "Set the sauce can right next to the black kitchenpot with silver handle bars",
+    "Use the right arm to lift the hand-sized sauce can, then move it next to the medium kitchenpot with smooth surface",
+    "Pick the sauce can with glossy finish and position it next to the black cooking pot with silver handles",
+    "Set the hand-sized sauce can near the black kitchenpot after picking it up",
+    "Move the yellow brown sauce can from its spot to near the black metal kitchenpot",
+    "Move the rounded-edge sauce can to the black kitchenpot with flat lid with the right arm",
+    "Use the right arm to pick the yellow brown sauce can, position it near the medium kitchenpot with smooth surface",
+    "Lift the yellow brown sauce can and place it next to the cooking kitchenpot with sturdy handles",
+    "Lift the medium sauce can with white lid using the right arm and drop it beside the kitchenpot for boiling food",
+    "Grab the sauce can with sealed top with the right arm and position it beside the black kitchenpot with plastic lid handle",
+    "Pick up the sauce can with sealed top with the right arm and set by the black kitchenpot",
+    "Grab the yellow brown sauce can, shift it, and place it close to the medium kitchenpot with smooth surface",
+    "Grab the hand-sized sauce can, move it to the black kitchenpot with plastic lid handle's side",
+    "Take the medium sauce can with white lid with the right arm, place it near the black kitchenpot with round lid",
+    "Lift the yellow brown sauce can and move it near the medium kitchenpot with smooth surface",
+    "Move the plastic lid sauce can to be next to the cooking kitchenpot with sturdy handles",
+    "Grab the hand-sized sauce can with the right arm and set it near the black cooking pot with silver handles",
+    "Move the yellow brown sauce can beside the black metal kitchenpot after lifting it",
+    "Lift the rounded-edge sauce can, place it by the black kitchenpot with silver and black handles",
+    "Take the sauce can using the right arm, set it next to the black kitchenpot with plastic lid handle",
+    "Use the right arm to grab the sauce can with sealed top and transfer it near the cooking kitchenpot with sturdy handles",
+    "Use the right arm to lift the plastic lid sauce can and place it next to the black kitchenpot",
+    "Grab the white plastic lid sauce can and move it close to the black cooking pot with silver handles",
+    "Pick up the cylindrical sauce can and put it beside the black kitchenpot with silver handle bars",
+    "Bring the sauce can with glossy finish over and set it near the kitchenpot with metallic round lid",
+    "Use the right arm to lift the hand-sized sauce can and place it near the kitchenpot with metallic round lid",
+    "Using the right arm, lift the brown and yellow cylindrical sauce can and place it by the black kitchenpot",
+    "Grab the cylindrical sauce can with the right arm and move it close to the black cooking pot with silver handles",
+    "Take the sauce can with glossy finish to the black kitchenpot with silver and black handles using the right arm",
+    "Use the right arm to move the sauce can beside the kitchenpot with metallic round lid",
+    "Grab the white plastic lid sauce can, move it, and place by the black kitchenpot with plastic lid handle",
+    "Lift the sauce can with sealed top and set it next to the black kitchenpot with round lid",
+    "Lift the medium sauce can with white lid and set it beside the medium kitchenpot with smooth surface",
+    "Pick the plastic lid sauce can up and carefully position it beside the black cooking pot with silver handles",
+    "Lift the plastic lid sauce can, then place it next to the black cooking pot with silver handles",
+    "Pick the white plastic lid sauce can with the right arm and relocate it near the kitchenpot with metallic round lid",
+    "Use the right arm to grab the brown and yellow cylindrical sauce can and move it beside the black kitchenpot",
+    "Use the right arm to take the rounded-edge sauce can to the black kitchenpot with flat lid",
+    "Lift the rounded-edge sauce can and set it next to the black kitchenpot with silver and black handles",
+    "Lift the sauce can with sealed top using the right arm and position it by the black kitchenpot with round lid",
+    "Use the right arm to pick the round sauce can with yellow pattern up and set it beside the kitchenpot with metallic round lid",
+    "Place the sauce can with sealed top beside the cooking kitchenpot with sturdy handles after picking it up",
+    "With the right arm, grab the brown and yellow cylindrical sauce can and move to the black kitchenpot",
+    "Use the right arm to grab the brown and yellow cylindrical sauce can and move it next to the black metal kitchenpot",
+    "Use the right arm to grab the round sauce can with yellow pattern, move it beside the kitchenpot with metallic round lid",
+    "Pick the sauce can with glossy finish up with the right arm then place near the cooking kitchenpot with sturdy handles",
+    "Take the sauce can with the right arm, bring it, and set next to the medium kitchenpot with smooth surface",
+    "Pick the medium sauce can with white lid up and move it next to the black kitchenpot with silver handle bars",
+    "Pick up the plastic lid sauce can using the right arm, transfer it beside the black cooking pot with silver handles",
+    "Place the round sauce can with yellow pattern next to the black kitchenpot with silver handle bars",
+    "Set the rounded-edge sauce can right next to the cooking kitchenpot with sturdy handles",
+    "Use the right arm to lift the white plastic lid sauce can, then move it next to the black cooking pot with silver handles",
+    "Pick the white plastic lid sauce can and position it next to the black kitchenpot with silver handle bars",
+    "Set the medium sauce can with white lid near the kitchenpot with metallic round lid after picking it up",
+    "Move the yellow brown sauce can from its spot to near the kitchenpot for boiling food",
+    "Move the white plastic lid sauce can to the cooking kitchenpot with sturdy handles with the right arm",
+    "Use the right arm to pick the sauce can with glossy finish, position it near the black kitchenpot with silver and black handles",
+    "Lift the hand-sized sauce can and place it next to the black cooking pot with silver handles",
+    "Lift the cylindrical sauce can using the right arm and drop it beside the medium kitchenpot with smooth surface",
+    "Grab the brown and yellow cylindrical sauce can with the right arm and position it beside the black kitchenpot with round lid",
+    "Pick up the sauce can with glossy finish with the right arm and set by the black kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the black cooking pot with silver handles",
+    "Grab the white plastic lid sauce can, move it to the black kitchenpot with silver and black handles's side",
+    "Take the round sauce can with yellow pattern with the right arm, place it near the black metal kitchenpot",
+    "Lift the hand-sized sauce can and move it near the black kitchenpot with plastic lid handle",
+    "Move the hand-sized sauce can to be next to the black kitchenpot",
+    "Grab the sauce can with glossy finish with the right arm and set it near the black metal kitchenpot",
+    "Move the medium sauce can with white lid beside the black kitchenpot with plastic lid handle after lifting it",
+    "Lift the cylindrical sauce can, place it by the black kitchenpot with silver handle bars",
+    "Take the sauce can with sealed top using the right arm, set it next to the black kitchenpot with silver and black handles",
+    "Use the right arm to grab the sauce can and transfer it near the black kitchenpot with round lid",
+    "Use the right arm to lift the yellow brown sauce can and place it next to the kitchenpot for boiling food",
+    "Grab the yellow brown sauce can and move it close to the medium kitchenpot with smooth surface",
+    "Pick up the round sauce can with yellow pattern and put it beside the kitchenpot with metallic round lid",
+    "Bring the sauce can over and set it near the black kitchenpot with plastic lid handle",
+    "Use the right arm to lift the cylindrical sauce can and place it near the black cooking pot with silver handles",
+    "Using the right arm, lift the brown and yellow cylindrical sauce can and place it by the black kitchenpot with silver and black handles",
+    "Grab the round sauce can with yellow pattern with the right arm and move it close to the black kitchenpot with silver handle bars",
+    "Take the medium sauce can with white lid to the black kitchenpot with round lid using the right arm",
+    "Use the right arm to move the plastic lid sauce can beside the black cooking pot with silver handles",
+    "Grab the yellow brown sauce can, move it, and place by the black kitchenpot with round lid",
+    "Lift the sauce can and set it next to the kitchenpot with metallic round lid",
+    "Lift the hand-sized sauce can and set it beside the black metal kitchenpot",
+    "Pick the yellow brown sauce can up and carefully position it beside the black kitchenpot"
+  ],
+  "unseen": [
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the round black kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the medium black kitchenpot with lid",
+    "Pick up the smooth sauce can and set it beside the shiny black kitchenpot",
+    "Pick up the smooth sauce can and move it near the round black kitchenpot",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the shiny black kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the shiny black kitchenpot",
+    "Use the right arm to grab the smooth sauce can and place it by the shiny black kitchenpot",
+    "Lift the smooth sauce can and set it beside the round black kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the round black kitchenpot",
+    "Grab the smooth sauce can and move it near the medium black kitchenpot with lid",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the medium black kitchenpot with lid",
+    "Grab the yellow label on sauce can and place it beside the shiny black kitchenpot",
+    "Pick up the smooth sauce can and set it beside the shiny black kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the round black kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the round black kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the shiny black kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the brown sauce can with top lid and place it near the medium black kitchenpot with lid",
+    "Grab the smooth sauce can and move it near the round black kitchenpot",
+    "Use the right arm to pick up the smooth sauce can and move it beside the medium black kitchenpot with lid",
+    "Grab the yellow label on sauce can and place it beside the medium black kitchenpot with lid",
+    "Pick up the brown sauce can with top lid and set it beside the round black kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the round black kitchenpot",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the shiny black kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the shiny black kitchenpot",
+    "Use the right arm to grab the smooth sauce can and place it by the shiny black kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the shiny black kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the round black kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the shiny black kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the round black kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the round black kitchenpot",
+    "Pick up the smooth sauce can and set it beside the medium black kitchenpot with lid",
+    "Pick up the smooth sauce can and move it near the round black kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the medium black kitchenpot with lid",
+    "Grab the brown sauce can with top lid and set it beside the shiny black kitchenpot",
+    "Use the right arm to grab the smooth sauce can and place it by the round black kitchenpot",
+    "Lift the smooth sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the brown sauce can with top lid and place it near the medium black kitchenpot with lid",
+    "Grab the brown sauce can with top lid and move it near the round black kitchenpot",
+    "Use the right arm to pick up the smooth sauce can and move it beside the shiny black kitchenpot",
+    "Grab the smooth sauce can and place it beside the medium black kitchenpot with lid",
+    "Pick up the smooth sauce can and set it beside the round black kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the medium black kitchenpot with lid",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the round black kitchenpot",
+    "Grab the smooth sauce can and set it beside the shiny black kitchenpot",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the round black kitchenpot",
+    "Lift the smooth sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the yellow label on sauce can and place it near the shiny black kitchenpot",
+    "Grab the yellow label on sauce can and move it near the round black kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the round black kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the shiny black kitchenpot",
+    "Pick up the smooth sauce can and set it beside the shiny black kitchenpot",
+    "Pick up the smooth sauce can and move it near the shiny black kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the shiny black kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to grab the yellow label on sauce can and place it by the shiny black kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the round black kitchenpot",
+    "Grab the yellow label on sauce can and place it near the shiny black kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the shiny black kitchenpot",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the shiny black kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the medium black kitchenpot with lid",
+    "Pick up the brown sauce can with top lid and set it beside the round black kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the round black kitchenpot",
+    "Use the right arm to pick up the smooth sauce can, move it near the medium black kitchenpot with lid",
+    "Grab the smooth sauce can and set it beside the round black kitchenpot",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the round black kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the shiny black kitchenpot",
+    "Grab the yellow label on sauce can and place it near the shiny black kitchenpot",
+    "Grab the smooth sauce can and move it near the medium black kitchenpot with lid",
+    "Use the right arm to pick up the smooth sauce can and move it beside the medium black kitchenpot with lid",
+    "Grab the smooth sauce can and place it beside the shiny black kitchenpot",
+    "Pick up the smooth sauce can and set it beside the medium black kitchenpot with lid",
+    "Pick up the smooth sauce can and move it near the shiny black kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the medium black kitchenpot with lid",
+    "Grab the brown sauce can with top lid and set it beside the round black kitchenpot",
+    "Use the right arm to grab the smooth sauce can and place it by the round black kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the shiny black kitchenpot",
+    "Grab the yellow label on sauce can and place it near the round black kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the shiny black kitchenpot",
+    "Use the right arm to pick up the smooth sauce can and move it beside the round black kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the round black kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the round black kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the round black kitchenpot",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the shiny black kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to grab the smooth sauce can and place it by the shiny black kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the round black kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the medium black kitchenpot with lid",
+    "Grab the smooth sauce can and move it near the round black kitchenpot",
+    "Use the right arm to pick up the smooth sauce can and move it beside the shiny black kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the medium black kitchenpot with lid",
+    "Pick up the yellow label on sauce can and set it beside the round black kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the round black kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the shiny black kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the round black kitchenpot",
+    "Use the right arm to grab the yellow label on sauce can and place it by the medium black kitchenpot with lid",
+    "Lift the brown sauce can with top lid and set it beside the medium black kitchenpot with lid",
+    "Grab the brown sauce can with top lid and place it near the round black kitchenpot",
+    "Grab the smooth sauce can and move it near the round black kitchenpot"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001007.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the red sauce can for holding condiments up and move it next to the cooking kitchenpot with sturdy handles",
+    "Use the left arm to pick the red sauce can for holding condiments, position it near the kitchenpot for boiling food",
+    "Pick up the smooth sauce can and put it beside the black kitchenpot with round lid",
+    "Set the sauce can with flat bottom right next to the kitchenpot for boiling food",
+    "Use the left arm to take the red and gold sauce can to the black kitchenpot with silver and black handles",
+    "Bring the smooth sauce can over and set it near the black metal kitchenpot",
+    "Pick the sauce can with flat top with the left arm and relocate it near the black kitchenpot with round lid",
+    "Grab the red cylindrical sauce can with the left arm and position it beside the black kitchenpot",
+    "Move the medium-sized red sauce can from its spot to near the black kitchenpot with silver handle bars",
+    "Pick up the sauce can with flat top using the left arm, transfer it beside the black cooking pot with silver handles",
+    "Grab the sauce can with flat top, move it to the kitchenpot with metallic round lid's side",
+    "Use the left arm to pick the red cylindrical sauce can up and set it beside the kitchenpot for boiling food",
+    "Take the sauce can with white details with the left arm, place it near the black kitchenpot with silver and black handles",
+    "Place the red sauce can for holding condiments beside the black cooking pot with silver handles after picking it up",
+    "Grab the red can with gold patterns, shift it, and place it close to the black metal kitchenpot",
+    "Lift the red plastic sauce can, then place it next to the black kitchenpot with silver handle bars",
+    "With the left arm, grab the sauce can with flat top and move to the black kitchenpot",
+    "Lift the medium-sized red sauce can and move it near the black kitchenpot with silver and black handles",
+    "Pick the red and gold sauce can and position it next to the black kitchenpot with silver handle bars",
+    "Use the left arm to grab the smooth sauce can, move it beside the black kitchenpot with silver and black handles",
+    "Pick the red sauce can for holding condiments up with the left arm then place near the kitchenpot with metallic round lid",
+    "Use the left arm to lift the red sauce can and place it near the kitchenpot for boiling food",
+    "Use the left arm to move the red plastic sauce can beside the black kitchenpot with silver and black handles",
+    "Lift the medium-sized red sauce can and set it next to the kitchenpot with metallic round lid",
+    "Take the sauce can with white details to the medium kitchenpot with smooth surface using the left arm",
+    "Lift the red sauce can for holding condiments using the left arm and position it by the kitchenpot with metallic round lid",
+    "Pick up the sauce can with white details with the left arm and set by the kitchenpot with metallic round lid",
+    "Lift the sauce can with flat top, place it by the kitchenpot with metallic round lid",
+    "Using the left arm, lift the red sauce can and place it by the kitchenpot with metallic round lid",
+    "Move the red cylindrical sauce can beside the black kitchenpot with silver and black handles after lifting it",
+    "Lift the red sauce can for holding condiments using the left arm and drop it beside the black kitchenpot",
+    "Grab the medium-sized red sauce can, move it, and place by the medium kitchenpot with smooth surface",
+    "Grab the sauce can with white details and move it close to the black kitchenpot with silver handle bars",
+    "Grab the sauce can with flat bottom with the left arm and set it near the black kitchenpot",
+    "Use the left arm to grab the red can with gold patterns and move it beside the black kitchenpot with flat lid",
+    "Lift the cylindrical sauce can and set it next to the medium kitchenpot with smooth surface",
+    "Grab the sauce can with flat top with the left arm and move it close to the black kitchenpot",
+    "Use the left arm to grab the sauce can with flat top and move it next to the black cooking pot with silver handles",
+    "Lift the sauce can with flat top and set it beside the black kitchenpot with silver handle bars",
+    "Take the sauce can with white details with the left arm, bring it, and set next to the black metal kitchenpot",
+    "Lift the sauce can with white details and place it next to the black kitchenpot with silver handle bars",
+    "Set the red and gold sauce can near the medium kitchenpot with smooth surface after picking it up",
+    "Take the red and gold sauce can using the left arm, set it next to the kitchenpot for boiling food",
+    "Move the sauce can with white details to the black kitchenpot with silver and black handles with the left arm",
+    "Place the red sauce can next to the black kitchenpot with round lid",
+    "Use the left arm to grab the sauce can with flat bottom and transfer it near the kitchenpot with metallic round lid",
+    "Use the left arm to lift the smooth sauce can and place it next to the black kitchenpot with plastic lid handle",
+    "Use the left arm to lift the red sauce can for holding condiments, then move it next to the kitchenpot for boiling food",
+    "Move the red plastic sauce can to be next to the black cooking pot with silver handles",
+    "Pick the red sauce can for holding condiments up and carefully position it beside the black kitchenpot with plastic lid handle",
+    "Pick the red can with gold patterns up and move it next to the black kitchenpot with silver handle bars",
+    "Use the left arm to pick the sauce can with flat bottom, position it near the medium kitchenpot with smooth surface",
+    "Pick up the red and gold sauce can and put it beside the black kitchenpot with flat lid",
+    "Set the sauce can with flat bottom right next to the black kitchenpot",
+    "Use the left arm to take the sauce can with white details to the cooking kitchenpot with sturdy handles",
+    "Bring the sauce can with flat top over and set it near the medium kitchenpot with smooth surface",
+    "Pick the sauce can with white details with the left arm and relocate it near the medium kitchenpot with smooth surface",
+    "Grab the cylindrical sauce can with the left arm and position it beside the black kitchenpot with plastic lid handle",
+    "Move the red and gold sauce can from its spot to near the cooking kitchenpot with sturdy handles",
+    "Pick up the red cylindrical sauce can using the left arm, transfer it beside the black kitchenpot with round lid",
+    "Grab the smooth sauce can, move it to the black kitchenpot with flat lid's side",
+    "Use the left arm to pick the red sauce can up and set it beside the black kitchenpot with plastic lid handle",
+    "Take the red can with gold patterns with the left arm, place it near the black kitchenpot with silver and black handles",
+    "Place the red plastic sauce can beside the cooking kitchenpot with sturdy handles after picking it up",
+    "Grab the red and gold sauce can, shift it, and place it close to the kitchenpot for boiling food",
+    "Lift the red and gold sauce can, then place it next to the kitchenpot with metallic round lid",
+    "With the left arm, grab the smooth sauce can and move to the medium kitchenpot with smooth surface",
+    "Lift the red and gold sauce can and move it near the black kitchenpot",
+    "Pick the red can with gold patterns and position it next to the cooking kitchenpot with sturdy handles",
+    "Use the left arm to grab the medium-sized red sauce can, move it beside the kitchenpot for boiling food",
+    "Pick the sauce can with flat bottom up with the left arm then place near the black kitchenpot with silver handle bars",
+    "Use the left arm to lift the red sauce can and place it near the cooking kitchenpot with sturdy handles",
+    "Use the left arm to move the red cylindrical sauce can beside the black kitchenpot with flat lid",
+    "Lift the sauce can with flat bottom and set it next to the cooking kitchenpot with sturdy handles",
+    "Take the red cylindrical sauce can to the black kitchenpot with plastic lid handle using the left arm",
+    "Lift the red plastic sauce can using the left arm and position it by the kitchenpot with metallic round lid",
+    "Pick up the red plastic sauce can with the left arm and set by the black kitchenpot with silver and black handles",
+    "Lift the red cylindrical sauce can, place it by the black metal kitchenpot",
+    "Using the left arm, lift the red cylindrical sauce can and place it by the black cooking pot with silver handles",
+    "Move the red can with gold patterns beside the black kitchenpot with flat lid after lifting it",
+    "Lift the red cylindrical sauce can using the left arm and drop it beside the black kitchenpot with silver handle bars",
+    "Grab the red and gold sauce can, move it, and place by the black kitchenpot with silver handle bars",
+    "Grab the red sauce can for holding condiments and move it close to the kitchenpot for boiling food",
+    "Grab the sauce can with white details with the left arm and set it near the black kitchenpot",
+    "Use the left arm to grab the red sauce can and move it beside the black kitchenpot with silver handle bars",
+    "Lift the smooth sauce can and set it next to the black cooking pot with silver handles",
+    "Grab the sauce can with flat bottom with the left arm and move it close to the black kitchenpot",
+    "Use the left arm to grab the medium-sized red sauce can and move it next to the black metal kitchenpot",
+    "Lift the smooth sauce can and set it beside the black kitchenpot with plastic lid handle",
+    "Take the red cylindrical sauce can with the left arm, bring it, and set next to the cooking kitchenpot with sturdy handles",
+    "Lift the medium-sized red sauce can and place it next to the black kitchenpot with flat lid",
+    "Set the sauce can with white details near the cooking kitchenpot with sturdy handles after picking it up",
+    "Take the smooth sauce can using the left arm, set it next to the black kitchenpot with flat lid",
+    "Move the red can with gold patterns to the black kitchenpot with silver handle bars with the left arm",
+    "Place the red cylindrical sauce can next to the black kitchenpot with plastic lid handle",
+    "Use the left arm to grab the smooth sauce can and transfer it near the kitchenpot with metallic round lid",
+    "Use the left arm to lift the red can with gold patterns and place it next to the black kitchenpot with flat lid",
+    "Use the left arm to lift the red sauce can for holding condiments, then move it next to the cooking kitchenpot with sturdy handles",
+    "Move the red and gold sauce can to be next to the black kitchenpot with flat lid",
+    "Pick the red cylindrical sauce can up and carefully position it beside the kitchenpot with metallic round lid"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the sauce can with red lid and move it beside the shiny black kitchenpot",
+    "Lift the smooth cylindrical sauce can and set it beside the shiny black kitchenpot",
+    "Grab the sauce can with red lid and move it near the shiny black kitchenpot",
+    "Pick up the sauce can with red lid and set it beside the round black kitchenpot",
+    "Use the left arm to grab the smooth cylindrical sauce can and place it by the shiny black kitchenpot",
+    "Grab the sauce can with red lid and place it beside the medium black kitchenpot with lid",
+    "Grab the sauce can with red lid and place it near the shiny black kitchenpot",
+    "Use the left arm to pick up the smooth cylindrical sauce can, move it near the medium black kitchenpot with lid",
+    "Grab the medium sauce can and set it beside the round black kitchenpot",
+    "Pick up the sauce can with red lid and move it near the round black kitchenpot",
+    "Use the left arm to pick up the sauce can with red lid and move it beside the shiny black kitchenpot",
+    "Lift the smooth cylindrical sauce can and set it beside the round black kitchenpot",
+    "Grab the medium sauce can and move it near the medium black kitchenpot with lid",
+    "Pick up the medium sauce can and set it beside the shiny black kitchenpot",
+    "Use the left arm to grab the sauce can with red lid and place it by the medium black kitchenpot with lid",
+    "Grab the smooth cylindrical sauce can and place it beside the medium black kitchenpot with lid",
+    "Grab the medium sauce can and place it near the medium black kitchenpot with lid",
+    "Use the left arm to pick up the smooth cylindrical sauce can, move it near the shiny black kitchenpot",
+    "Grab the medium sauce can and set it beside the round black kitchenpot",
+    "Pick up the smooth cylindrical sauce can and move it near the shiny black kitchenpot",
+    "Use the left arm to pick up the medium sauce can and move it beside the shiny black kitchenpot",
+    "Lift the smooth cylindrical sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the smooth cylindrical sauce can and move it near the medium black kitchenpot with lid",
+    "Pick up the medium sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the left arm to grab the sauce can with red lid and place it by the shiny black kitchenpot",
+    "Grab the smooth cylindrical sauce can and place it beside the round black kitchenpot",
+    "Grab the sauce can with red lid and place it near the medium black kitchenpot with lid",
+    "Use the left arm to pick up the medium sauce can, move it near the round black kitchenpot",
+    "Grab the smooth cylindrical sauce can and set it beside the medium black kitchenpot with lid",
+    "Pick up the sauce can with red lid and move it near the shiny black kitchenpot",
+    "Use the left arm to pick up the medium sauce can and move it beside the round black kitchenpot",
+    "Lift the sauce can with red lid and set it beside the medium black kitchenpot with lid",
+    "Grab the sauce can with red lid and move it near the shiny black kitchenpot",
+    "Pick up the smooth cylindrical sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the left arm to grab the sauce can with red lid and place it by the medium black kitchenpot with lid",
+    "Grab the smooth cylindrical sauce can and place it beside the shiny black kitchenpot",
+    "Grab the medium sauce can and place it near the medium black kitchenpot with lid",
+    "Use the left arm to pick up the medium sauce can, move it near the round black kitchenpot",
+    "Grab the sauce can with red lid and set it beside the medium black kitchenpot with lid",
+    "Pick up the smooth cylindrical sauce can and move it near the round black kitchenpot",
+    "Use the left arm to pick up the smooth cylindrical sauce can and move it beside the shiny black kitchenpot",
+    "Lift the medium sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the medium sauce can and move it near the medium black kitchenpot with lid",
+    "Pick up the medium sauce can and set it beside the round black kitchenpot",
+    "Use the left arm to grab the sauce can with red lid and place it by the shiny black kitchenpot",
+    "Grab the smooth cylindrical sauce can and place it beside the round black kitchenpot",
+    "Grab the smooth cylindrical sauce can and place it near the shiny black kitchenpot",
+    "Use the left arm to pick up the medium sauce can, move it near the round black kitchenpot",
+    "Grab the medium sauce can and set it beside the shiny black kitchenpot",
+    "Pick up the smooth cylindrical sauce can and move it near the round black kitchenpot",
+    "Use the left arm to pick up the smooth cylindrical sauce can and move it beside the shiny black kitchenpot",
+    "Lift the sauce can with red lid and set it beside the medium black kitchenpot with lid",
+    "Grab the smooth cylindrical sauce can and move it near the round black kitchenpot",
+    "Pick up the smooth cylindrical sauce can and set it beside the shiny black kitchenpot",
+    "Use the left arm to grab the smooth cylindrical sauce can and place it by the round black kitchenpot",
+    "Grab the sauce can with red lid and place it beside the medium black kitchenpot with lid",
+    "Grab the medium sauce can and place it near the medium black kitchenpot with lid",
+    "Use the left arm to pick up the medium sauce can, move it near the medium black kitchenpot with lid",
+    "Grab the smooth cylindrical sauce can and set it beside the shiny black kitchenpot",
+    "Pick up the smooth cylindrical sauce can and move it near the round black kitchenpot",
+    "Use the left arm to pick up the medium sauce can and move it beside the medium black kitchenpot with lid",
+    "Lift the sauce can with red lid and set it beside the round black kitchenpot",
+    "Grab the sauce can with red lid and move it near the medium black kitchenpot with lid",
+    "Pick up the smooth cylindrical sauce can and set it beside the shiny black kitchenpot",
+    "Use the left arm to grab the smooth cylindrical sauce can and place it by the medium black kitchenpot with lid",
+    "Grab the sauce can with red lid and place it beside the shiny black kitchenpot",
+    "Grab the medium sauce can and place it near the round black kitchenpot",
+    "Use the left arm to pick up the smooth cylindrical sauce can, move it near the shiny black kitchenpot",
+    "Grab the medium sauce can and set it beside the round black kitchenpot",
+    "Pick up the smooth cylindrical sauce can and move it near the medium black kitchenpot with lid",
+    "Use the left arm to pick up the sauce can with red lid and move it beside the shiny black kitchenpot",
+    "Lift the sauce can with red lid and set it beside the shiny black kitchenpot",
+    "Grab the smooth cylindrical sauce can and move it near the medium black kitchenpot with lid",
+    "Pick up the smooth cylindrical sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the left arm to grab the sauce can with red lid and place it by the round black kitchenpot",
+    "Grab the smooth cylindrical sauce can and place it beside the shiny black kitchenpot",
+    "Grab the medium sauce can and place it near the round black kitchenpot",
+    "Use the left arm to pick up the sauce can with red lid, move it near the round black kitchenpot",
+    "Grab the medium sauce can and set it beside the medium black kitchenpot with lid",
+    "Pick up the smooth cylindrical sauce can and move it near the round black kitchenpot",
+    "Use the left arm to pick up the smooth cylindrical sauce can and move it beside the round black kitchenpot",
+    "Lift the sauce can with red lid and set it beside the shiny black kitchenpot",
+    "Grab the smooth cylindrical sauce can and move it near the medium black kitchenpot with lid",
+    "Pick up the sauce can with red lid and set it beside the shiny black kitchenpot",
+    "Use the left arm to grab the medium sauce can and place it by the medium black kitchenpot with lid",
+    "Grab the sauce can with red lid and place it beside the shiny black kitchenpot",
+    "Grab the smooth cylindrical sauce can and place it near the medium black kitchenpot with lid",
+    "Use the left arm to pick up the smooth cylindrical sauce can, move it near the shiny black kitchenpot",
+    "Grab the medium sauce can and set it beside the medium black kitchenpot with lid",
+    "Pick up the smooth cylindrical sauce can and move it near the shiny black kitchenpot",
+    "Use the left arm to pick up the sauce can with red lid and move it beside the shiny black kitchenpot",
+    "Lift the medium sauce can and set it beside the round black kitchenpot",
+    "Grab the sauce can with red lid and move it near the round black kitchenpot",
+    "Pick up the smooth cylindrical sauce can and set it beside the round black kitchenpot",
+    "Use the left arm to grab the smooth cylindrical sauce can and place it by the medium black kitchenpot with lid",
+    "Grab the sauce can with red lid and place it beside the round black kitchenpot",
+    "Grab the medium sauce can and place it near the shiny black kitchenpot",
+    "Use the left arm to pick up the medium sauce can, move it near the round black kitchenpot",
+    "Grab the smooth cylindrical sauce can and set it beside the medium black kitchenpot with lid",
+    "Pick up the smooth cylindrical sauce can and move it near the shiny black kitchenpot"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001008.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the sturdy sauce can with glossy finish to the teal pot for boiling and cooking with the right arm",
+    "Use the right arm to move the red can with orange label beside the kitchenpot with two sturdy blue handles",
+    "Lift the sauce can with rounded top cap and set it beside the round kitchenpot with two side grips",
+    "Grab the compact sauce can with plastic lid with the right arm and set it near the kitchenpot with flat lid and knob",
+    "Use the right arm to lift the small metal sauce container and place it next to the smooth teal kitchenpot for stovetop use",
+    "Pick the cylindrical sauce can up and carefully position it beside the round teal cooking pot with matte texture",
+    "Pick the sauce can with red lid up with the right arm then place near the round kitchenpot with two side grips",
+    "Take the metal body sauce can using the right arm, set it next to the blue cylinder pot with smooth lid",
+    "Move the sturdy sauce can with glossy finish to be next to the round kitchenpot with two side grips",
+    "Lift the sturdy sauce can with glossy finish and place it next to the medium teal-colored pot with flat lid",
+    "Use the right arm to pick the red and orange sauce can up and set it beside the teal pot for boiling and cooking",
+    "Grab the metal body sauce can, move it, and place by the smooth teal kitchenpot for stovetop use",
+    "Pick up the red can with orange label using the right arm, transfer it beside the round teal cooking pot with matte texture",
+    "Use the right arm to grab the compact sauce can with plastic lid and transfer it near the smooth teal kitchenpot for stovetop use",
+    "Lift the sturdy sauce can with glossy finish, place it by the blue kitchenpot with smooth matte sides",
+    "Pick the sauce can with printed design up and move it next to the round kitchenpot with two side grips",
+    "Pick the small metal sauce container and position it next to the kitchenpot with two sturdy blue handles",
+    "Use the right arm to take the sturdy sauce can with glossy finish to the medium-sized teal blue cooking pot",
+    "With the right arm, grab the metal body sauce can and move to the medium teal blue kitchenpot with handles",
+    "Pick up the metal body sauce can with the right arm and set by the round kitchenpot with two side grips",
+    "Use the right arm to pick the cylindrical sauce can, position it near the teal pot for boiling and cooking",
+    "Grab the compact sauce can with plastic lid with the right arm and position it beside the cooking pot with two blue handles",
+    "Place the sauce can with rounded top cap next to the round teal cooking pot with matte texture",
+    "Lift the cylindrical sauce can and set it next to the blue cylinder pot with smooth lid",
+    "Grab the sauce can with printed design, shift it, and place it close to the cooking pot with two blue handles",
+    "Set the red and orange sauce can right next to the blue kitchenpot with smooth matte sides",
+    "Using the right arm, lift the red can with orange label and place it by the blue kitchenpot with smooth matte sides",
+    "Lift the red and orange sauce can using the right arm and position it by the blue cylinder pot with smooth lid",
+    "Set the sauce can with red lid near the smooth teal kitchenpot for stovetop use after picking it up",
+    "Take the red and orange sauce can with the right arm, place it near the kitchenpot with two sturdy blue handles",
+    "Use the right arm to grab the metal body sauce can, move it beside the medium-sized teal blue cooking pot",
+    "Lift the metal body sauce can and move it near the medium teal blue kitchenpot with handles",
+    "Move the red and orange sauce can beside the medium teal-colored pot with flat lid after lifting it",
+    "Take the compact sauce can with plastic lid with the right arm, bring it, and set next to the round teal cooking pot with matte texture",
+    "Use the right arm to grab the red and orange sauce can and move it beside the kitchenpot with flat lid and knob",
+    "Grab the cylindrical sauce can with the right arm and move it close to the medium-sized teal blue cooking pot",
+    "Move the sauce can with red lid from its spot to near the kitchenpot with two sturdy blue handles",
+    "Grab the compact sauce can with plastic lid, move it to the round teal cooking pot with matte texture's side",
+    "Pick up the smooth sauce can and put it beside the medium teal-colored pot with flat lid",
+    "Place the cylindrical sauce can beside the round teal cooking pot with matte texture after picking it up",
+    "Use the right arm to lift the smooth sauce can, then move it next to the kitchenpot with two sturdy blue handles",
+    "Take the red can with orange label to the blue cylinder pot with smooth lid using the right arm",
+    "Use the right arm to grab the sauce can with red lid and move it next to the blue cylinder pot with smooth lid",
+    "Use the right arm to lift the sauce can with red lid and place it near the cooking pot with two blue handles",
+    "Lift the sauce can with printed design using the right arm and drop it beside the medium teal blue kitchenpot with handles",
+    "Grab the small metal sauce container and move it close to the kitchenpot with two sturdy blue handles",
+    "Lift the sauce can with printed design, then place it next to the medium-sized teal blue cooking pot",
+    "Pick the sturdy sauce can with glossy finish with the right arm and relocate it near the round teal cooking pot with matte texture",
+    "Lift the cylindrical sauce can and set it next to the blue cylinder pot with smooth lid",
+    "Bring the small metal sauce container over and set it near the kitchenpot with two sturdy blue handles",
+    "Move the sauce can with rounded top cap to the kitchenpot with flat lid and knob with the right arm",
+    "Use the right arm to move the sauce can with printed design beside the cooking pot with two blue handles",
+    "Lift the smooth sauce can and set it beside the medium teal blue kitchenpot with handles",
+    "Grab the cylindrical sauce can with the right arm and set it near the teal pot for boiling and cooking",
+    "Use the right arm to lift the smooth sauce can and place it next to the kitchenpot with two sturdy blue handles",
+    "Pick the sauce can with rounded top cap up and carefully position it beside the blue cylinder pot with smooth lid",
+    "Pick the sauce can with printed design up with the right arm then place near the round kitchenpot with two side grips",
+    "Take the red and orange sauce can using the right arm, set it next to the teal pot for boiling and cooking",
+    "Move the sauce can with printed design to be next to the medium-sized teal blue cooking pot",
+    "Lift the compact sauce can with plastic lid and place it next to the medium teal-colored pot with flat lid",
+    "Use the right arm to pick the cylindrical sauce can up and set it beside the medium-sized teal blue cooking pot",
+    "Grab the red can with orange label, move it, and place by the blue kitchenpot with smooth matte sides",
+    "Pick up the small cylindrical sauce can using the right arm, transfer it beside the blue kitchenpot with smooth matte sides",
+    "Use the right arm to grab the sauce can with rounded top cap and transfer it near the medium teal-colored pot with flat lid",
+    "Lift the cylindrical sauce can, place it by the medium teal blue kitchenpot with handles",
+    "Pick the sturdy sauce can with glossy finish up and move it next to the blue cylinder pot with smooth lid",
+    "Pick the compact sauce can with plastic lid and position it next to the medium teal-colored pot with flat lid",
+    "Use the right arm to take the metal body sauce can to the round kitchenpot with two side grips",
+    "With the right arm, grab the sauce can with rounded top cap and move to the kitchenpot with two sturdy blue handles",
+    "Pick up the red and orange sauce can with the right arm and set by the blue kitchenpot with smooth matte sides",
+    "Use the right arm to pick the cylindrical sauce can, position it near the blue kitchenpot with smooth matte sides",
+    "Grab the small cylindrical sauce can with the right arm and position it beside the medium teal-colored pot with flat lid",
+    "Place the sauce can with rounded top cap next to the kitchenpot with two sturdy blue handles",
+    "Lift the red and orange sauce can and set it next to the smooth teal kitchenpot for stovetop use",
+    "Grab the small metal sauce container, shift it, and place it close to the kitchenpot with two sturdy blue handles",
+    "Set the red and orange sauce can right next to the kitchenpot with two sturdy blue handles",
+    "Using the right arm, lift the sturdy sauce can with glossy finish and place it by the medium teal-colored pot with flat lid",
+    "Lift the small cylindrical sauce can using the right arm and position it by the blue kitchenpot with smooth matte sides",
+    "Set the metal body sauce can near the blue cylinder pot with smooth lid after picking it up",
+    "Take the smooth sauce can with the right arm, place it near the medium teal-colored pot with flat lid",
+    "Use the right arm to grab the sauce can with printed design, move it beside the smooth teal kitchenpot for stovetop use",
+    "Lift the red and orange sauce can and move it near the blue cylinder pot with smooth lid",
+    "Move the small metal sauce container beside the blue cylinder pot with smooth lid after lifting it",
+    "Take the red can with orange label with the right arm, bring it, and set next to the medium teal blue kitchenpot with handles",
+    "Use the right arm to grab the metal body sauce can and move it beside the blue cylinder pot with smooth lid",
+    "Grab the sturdy sauce can with glossy finish with the right arm and move it close to the blue cylinder pot with smooth lid",
+    "Move the smooth sauce can from its spot to near the blue cylinder pot with smooth lid",
+    "Grab the smooth sauce can, move it to the medium teal-colored pot with flat lid's side",
+    "Pick up the sauce can with printed design and put it beside the medium teal-colored pot with flat lid",
+    "Place the red and orange sauce can beside the round teal cooking pot with matte texture after picking it up",
+    "Use the right arm to lift the cylindrical sauce can, then move it next to the blue cylinder pot with smooth lid",
+    "Take the metal body sauce can to the kitchenpot with flat lid and knob using the right arm",
+    "Use the right arm to grab the sturdy sauce can with glossy finish and move it next to the blue cylinder pot with smooth lid",
+    "Use the right arm to lift the cylindrical sauce can and place it near the round teal cooking pot with matte texture",
+    "Lift the sauce can with printed design using the right arm and drop it beside the round teal cooking pot with matte texture",
+    "Grab the compact sauce can with plastic lid and move it close to the medium-sized teal blue cooking pot",
+    "Lift the small metal sauce container, then place it next to the kitchenpot with two sturdy blue handles",
+    "Pick the small cylindrical sauce can with the right arm and relocate it near the kitchenpot with flat lid and knob",
+    "Lift the sauce can with red lid and set it next to the blue cylinder pot with smooth lid",
+    "Bring the sturdy sauce can with glossy finish over and set it near the medium teal blue kitchenpot with handles"
+  ],
+  "unseen": [
+    "Pick up the red sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and place it near the blue kitchenpot",
+    "Grab the red sauce can and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the red can with white text and move it beside the teal blue cooking pot",
+    "Pick up the red sauce can and set it beside the blue kitchenpot",
+    "Grab the red can with white text and move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the red sauce can and place it by the teal blue cooking pot",
+    "Use the right arm to pick up the red sauce can, move it near the blue kitchenpot",
+    "Lift the red can with white text and set it beside the blue pot with cylindrical body and lid",
+    "Grab the red sauce can and place it beside the blue kitchenpot",
+    "Pick up the red sauce can and move it near the blue kitchenpot",
+    "Grab the red sauce can and place it near the blue kitchenpot",
+    "Grab the red can with white text and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the red can with white text and move it beside the teal blue cooking pot",
+    "Pick up the red can with white text and set it beside the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the red sauce can and place it by the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the blue pot with cylindrical body and lid",
+    "Lift the red sauce can and set it beside the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and place it beside the blue kitchenpot",
+    "Pick up the red sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and place it near the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the red can with white text and move it beside the teal blue cooking pot",
+    "Pick up the red can with white text and set it beside the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and move it near the blue kitchenpot",
+    "Use the right arm to grab the sauce can with round ridged lid and place it by the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the blue pot with cylindrical body and lid",
+    "Lift the red can with white text and set it beside the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and place it beside the blue pot with cylindrical body and lid",
+    "Pick up the red sauce can and move it near the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and place it near the blue pot with cylindrical body and lid",
+    "Grab the red sauce can and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the red can with white text and move it beside the teal blue cooking pot",
+    "Pick up the sauce can with round ridged lid and set it beside the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the red can with white text and place it by the teal blue cooking pot",
+    "Use the right arm to pick up the red can with white text, move it near the teal blue cooking pot",
+    "Lift the sauce can with round ridged lid and set it beside the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and place it beside the blue kitchenpot",
+    "Pick up the sauce can with round ridged lid and move it near the teal blue cooking pot",
+    "Grab the red can with white text and place it near the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the red can with white text and move it beside the teal blue cooking pot",
+    "Pick up the red can with white text and set it beside the blue pot with cylindrical body and lid",
+    "Grab the red sauce can and move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the red can with white text and place it by the teal blue cooking pot",
+    "Use the right arm to pick up the red sauce can, move it near the blue kitchenpot",
+    "Lift the sauce can with round ridged lid and set it beside the teal blue cooking pot",
+    "Grab the red sauce can and place it beside the teal blue cooking pot",
+    "Pick up the sauce can with round ridged lid and move it near the blue pot with cylindrical body and lid",
+    "Grab the red sauce can and place it near the blue kitchenpot",
+    "Grab the red can with white text and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the red sauce can and move it beside the teal blue cooking pot",
+    "Pick up the sauce can with round ridged lid and set it beside the teal blue cooking pot",
+    "Grab the red sauce can and move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the red can with white text and place it by the teal blue cooking pot",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the blue kitchenpot",
+    "Lift the red sauce can and set it beside the teal blue cooking pot",
+    "Grab the red can with white text and place it beside the teal blue cooking pot",
+    "Pick up the red sauce can and move it near the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and place it near the blue kitchenpot",
+    "Grab the red can with white text and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the blue kitchenpot",
+    "Pick up the red can with white text and set it beside the blue pot with cylindrical body and lid",
+    "Grab the red sauce can and move it near the blue kitchenpot",
+    "Use the right arm to grab the sauce can with round ridged lid and place it by the blue kitchenpot",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the blue kitchenpot",
+    "Lift the red can with white text and set it beside the blue kitchenpot",
+    "Grab the red can with white text and place it beside the blue kitchenpot",
+    "Pick up the red can with white text and move it near the blue pot with cylindrical body and lid",
+    "Grab the red sauce can and place it near the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the red can with white text and move it beside the blue pot with cylindrical body and lid",
+    "Pick up the sauce can with round ridged lid and set it beside the blue kitchenpot",
+    "Grab the red can with white text and move it near the teal blue cooking pot",
+    "Use the right arm to grab the red sauce can and place it by the teal blue cooking pot",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the blue kitchenpot",
+    "Lift the red can with white text and set it beside the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and place it beside the blue kitchenpot",
+    "Pick up the red sauce can and move it near the teal blue cooking pot",
+    "Grab the red sauce can and place it near the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the red can with white text and move it beside the blue pot with cylindrical body and lid",
+    "Pick up the red sauce can and set it beside the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and move it near the blue kitchenpot",
+    "Use the right arm to grab the red can with white text and place it by the blue kitchenpot",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the blue pot with cylindrical body and lid",
+    "Lift the red sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Grab the red sauce can and place it beside the teal blue cooking pot",
+    "Pick up the red sauce can and move it near the blue kitchenpot",
+    "Grab the red can with white text and place it near the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the blue kitchenpot",
+    "Pick up the red sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and move it near the blue kitchenpot",
+    "Use the right arm to grab the sauce can with round ridged lid and place it by the teal blue cooking pot",
+    "Use the right arm to pick up the red sauce can, move it near the teal blue cooking pot",
+    "Lift the red sauce can and set it beside the blue kitchenpot",
+    "Grab the red sauce can and place it beside the blue pot with cylindrical body and lid"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001010.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the cylindrical sauce can and move it next to the kitchenpot with black rectangular panel",
+    "Use the left arm to grab the sauce can with brown lid, move it beside the kitchenpot with black base",
+    "Grab the printed label sauce can, move it, and place by the round kitchenpot",
+    "Place the medium sauce can next to the grey kitchenpot with dark circle inside",
+    "Pick up the yellow label sauce can using the left arm, transfer it beside the kitchenpot with red indicator light",
+    "Take the sauce can with ingredient information using the left arm, set it next to the kitchenpot with black rectangular panel",
+    "Lift the sauce can with ingredient information using the left arm and position it by the kitchenpot with two side handles",
+    "Use the left arm to take the sauce can for condiments to the kitchenpot with black base",
+    "Move the medium sauce can to be next to the cylindrical kitchenpot with flat edges",
+    "Grab the medium sauce can with the left arm and set it near the grey kitchenpot",
+    "Use the left arm to grab the yellow and brown sauce can and move it beside the kitchenpot with black rectangular panel",
+    "Lift the yellow and brown sauce can and set it beside the kitchenpot with red indicator light",
+    "Lift the medium sauce can, then place it next to the matte-finished kitchenpot",
+    "Move the brown top sauce can to the light grey kitchenpot with dark top with the left arm",
+    "Lift the printed label sauce can and set it next to the light grey kitchenpot with dark top",
+    "Take the sauce can for condiments with the left arm, place it near the kitchenpot with black base",
+    "Bring the yellow and brown sauce can over and set it near the smooth kitchenpot with black button",
+    "Lift the brown top sauce can and move it near the round kitchenpot",
+    "Move the cylindrical sauce can beside the round kitchenpot after lifting it",
+    "Use the left arm to lift the printed label sauce can and place it next to the round kitchenpot",
+    "Grab the brown sauce can with the left arm and position it beside the grey kitchenpot",
+    "Use the left arm to move the smooth cylindrical sauce can beside the light grey kitchenpot with dark top",
+    "Pick the yellow label sauce can up and carefully position it beside the kitchenpot with black base",
+    "Lift the printed label sauce can and place it next to the kitchenpot with two side handles",
+    "With the left arm, grab the brown top sauce can and move to the matte-finished kitchenpot",
+    "Lift the brown top sauce can, place it by the kitchenpot with sturdy plastic body",
+    "Pick the brown top sauce can up and move it next to the kitchenpot with red indicator light",
+    "Grab the sauce can with brown lid, shift it, and place it close to the kitchenpot with black rectangular panel",
+    "Take the sauce can for condiments to the light grey kitchenpot with dark top using the left arm",
+    "Set the cylindrical sauce can right next to the kitchenpot with two side handles",
+    "Pick the medium sauce can up with the left arm then place near the kitchenpot with black rectangular panel",
+    "Place the printed label sauce can beside the cylindrical kitchenpot with flat edges after picking it up",
+    "Pick up the sauce can with brown lid and put it beside the kitchenpot with two side handles",
+    "Using the left arm, lift the brown top sauce can and place it by the cylindrical kitchenpot with flat edges",
+    "Use the left arm to lift the printed label sauce can, then move it next to the grey kitchenpot with dark circle inside",
+    "Grab the brown sauce can and move it close to the light grey kitchenpot with dark top",
+    "Grab the smooth cylindrical sauce can, move it to the smooth kitchenpot with black button's side",
+    "Set the sauce can for condiments near the round kitchenpot after picking it up",
+    "Use the left arm to pick the medium sauce can, position it near the matte-finished kitchenpot",
+    "Use the left arm to pick the printed label sauce can up and set it beside the grey kitchenpot",
+    "Pick up the printed label sauce can with the left arm and set by the kitchenpot with two side handles",
+    "Pick the medium sauce can and position it next to the kitchenpot with sturdy plastic body",
+    "Grab the cylindrical sauce can with the left arm and move it close to the kitchenpot with two side handles",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the cylindrical kitchenpot with flat edges",
+    "Move the printed label sauce can from its spot to near the grey kitchenpot with dark circle inside",
+    "Lift the printed label sauce can using the left arm and drop it beside the kitchenpot with red indicator light",
+    "Lift the brown top sauce can and set it next to the kitchenpot with black rectangular panel",
+    "Take the sauce can with brown lid with the left arm, bring it, and set next to the kitchenpot with black base",
+    "Use the left arm to lift the metal sauce can and place it near the kitchenpot with red indicator light",
+    "Pick the metal sauce can with the left arm and relocate it near the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label sauce can and move it next to the kitchenpot with red indicator light",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the kitchenpot with two side handles",
+    "Grab the sauce can for condiments, move it, and place by the grey kitchenpot with dark circle inside",
+    "Place the yellow label sauce can next to the light grey kitchenpot with dark top",
+    "Pick up the brown top sauce can using the left arm, transfer it beside the kitchenpot with sturdy plastic body",
+    "Take the medium sauce can using the left arm, set it next to the round kitchenpot",
+    "Lift the printed label sauce can using the left arm and position it by the kitchenpot with red indicator light",
+    "Use the left arm to take the sauce can with ingredient information to the kitchenpot with two side handles",
+    "Move the medium sauce can to be next to the kitchenpot with black rectangular panel",
+    "Grab the brown top sauce can with the left arm and set it near the cylindrical kitchenpot with flat edges",
+    "Use the left arm to grab the sauce can with brown lid and move it beside the light grey kitchenpot with dark top",
+    "Lift the brown top sauce can and set it beside the kitchenpot with black rectangular panel",
+    "Lift the metal sauce can, then place it next to the kitchenpot with black base",
+    "Move the smooth cylindrical sauce can to the light grey kitchenpot with dark top with the left arm",
+    "Lift the metal sauce can and set it next to the light grey kitchenpot with dark top",
+    "Take the printed label sauce can with the left arm, place it near the matte-finished kitchenpot",
+    "Bring the yellow label sauce can over and set it near the kitchenpot with black rectangular panel",
+    "Lift the smooth cylindrical sauce can and move it near the kitchenpot with red indicator light",
+    "Move the medium sauce can beside the kitchenpot with sturdy plastic body after lifting it",
+    "Use the left arm to lift the metal sauce can and place it next to the cylindrical kitchenpot with flat edges",
+    "Grab the yellow and brown sauce can with the left arm and position it beside the grey kitchenpot with dark circle inside",
+    "Use the left arm to move the sauce can with brown lid beside the grey kitchenpot with dark circle inside",
+    "Pick the sauce can for condiments up and carefully position it beside the kitchenpot with sturdy plastic body",
+    "Lift the yellow label sauce can and place it next to the grey kitchenpot with dark circle inside",
+    "With the left arm, grab the medium sauce can and move to the kitchenpot with two side handles",
+    "Lift the medium sauce can, place it by the kitchenpot with sturdy plastic body",
+    "Pick the yellow label sauce can up and move it next to the kitchenpot with black base",
+    "Grab the yellow label sauce can, shift it, and place it close to the kitchenpot with sturdy plastic body",
+    "Take the yellow label sauce can to the light grey kitchenpot with dark top using the left arm",
+    "Set the brown sauce can right next to the grey kitchenpot",
+    "Pick the yellow and brown sauce can up with the left arm then place near the kitchenpot with black rectangular panel",
+    "Place the brown top sauce can beside the kitchenpot with black rectangular panel after picking it up",
+    "Pick up the sauce can with ingredient information and put it beside the cylindrical kitchenpot with flat edges",
+    "Using the left arm, lift the brown sauce can and place it by the kitchenpot with black base",
+    "Use the left arm to lift the brown sauce can, then move it next to the round kitchenpot",
+    "Grab the cylindrical sauce can and move it close to the kitchenpot with black base",
+    "Grab the brown top sauce can, move it to the round kitchenpot's side",
+    "Set the smooth cylindrical sauce can near the light grey kitchenpot with dark top after picking it up",
+    "Use the left arm to pick the printed label sauce can, position it near the kitchenpot with red indicator light",
+    "Use the left arm to pick the yellow and brown sauce can up and set it beside the grey kitchenpot",
+    "Pick up the brown sauce can with the left arm and set by the kitchenpot with black base",
+    "Pick the sauce can with brown lid and position it next to the kitchenpot with black rectangular panel",
+    "Grab the yellow and brown sauce can with the left arm and move it close to the kitchenpot with red indicator light",
+    "Use the left arm to grab the medium sauce can and transfer it near the kitchenpot with two side handles",
+    "Move the metal sauce can from its spot to near the kitchenpot with sturdy plastic body",
+    "Lift the metal sauce can using the left arm and drop it beside the kitchenpot with black rectangular panel",
+    "Lift the sauce can for condiments and set it next to the kitchenpot with black rectangular panel",
+    "Take the printed label sauce can with the left arm, bring it, and set next to the grey kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it near the kitchenpot with sturdy plastic body",
+    "Pick the yellow label sauce can with the left arm and relocate it near the kitchenpot with red indicator light"
+  ],
+  "unseen": [
+    "Grab the hand-sized sauce can and place it near the kitchenpot for cooking food",
+    "Lift the sauce can with smooth surface and set it beside the kitchenpot for cooking food",
+    "Use the left arm to grab the metal body sauce can and place it by the medium kitchenpot",
+    "Pick up the metal body sauce can and move it near the kitchenpot for cooking food",
+    "Grab the sauce can with smooth surface and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the sauce can with smooth surface and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with smooth surface and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the medium kitchenpot",
+    "Grab the hand-sized sauce can and place it beside the kitchenpot for cooking food",
+    "Grab the metal body sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Lift the sauce can with smooth surface and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to grab the hand-sized sauce can and place it by the compact kitchenpot with lid-like surface",
+    "Pick up the sauce can with smooth surface and move it near the kitchenpot for cooking food",
+    "Grab the sauce can with smooth surface and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the sauce can with smooth surface and set it beside the medium kitchenpot",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the medium kitchenpot",
+    "Grab the hand-sized sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with smooth surface and place it beside the medium kitchenpot",
+    "Grab the hand-sized sauce can and place it near the medium kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the kitchenpot for cooking food",
+    "Use the left arm to grab the metal body sauce can and place it by the compact kitchenpot with lid-like surface",
+    "Pick up the hand-sized sauce can and move it near the kitchenpot for cooking food",
+    "Grab the sauce can with smooth surface and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the metal body sauce can and set it beside the kitchenpot for cooking food",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the medium kitchenpot",
+    "Grab the sauce can with smooth surface and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the metal body sauce can and move it beside the kitchenpot for cooking food",
+    "Grab the metal body sauce can and place it beside the medium kitchenpot",
+    "Grab the sauce can with smooth surface and place it near the compact kitchenpot with lid-like surface",
+    "Lift the metal body sauce can and set it beside the kitchenpot for cooking food",
+    "Use the left arm to grab the metal body sauce can and place it by the kitchenpot for cooking food",
+    "Pick up the sauce can with smooth surface and move it near the medium kitchenpot",
+    "Grab the metal body sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the hand-sized sauce can and set it beside the medium kitchenpot",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the medium kitchenpot",
+    "Grab the hand-sized sauce can and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with smooth surface and place it beside the kitchenpot for cooking food",
+    "Grab the hand-sized sauce can and place it near the medium kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to grab the hand-sized sauce can and place it by the kitchenpot for cooking food",
+    "Pick up the metal body sauce can and move it near the medium kitchenpot",
+    "Grab the metal body sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the metal body sauce can and set it beside the kitchenpot for cooking food",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the kitchenpot for cooking food",
+    "Grab the hand-sized sauce can and move it near the medium kitchenpot",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the kitchenpot for cooking food",
+    "Grab the hand-sized sauce can and place it beside the compact kitchenpot with lid-like surface",
+    "Grab the hand-sized sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Lift the sauce can with smooth surface and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the compact kitchenpot with lid-like surface",
+    "Pick up the metal body sauce can and move it near the medium kitchenpot",
+    "Grab the metal body sauce can and set it beside the medium kitchenpot",
+    "Pick up the sauce can with smooth surface and set it beside the kitchenpot for cooking food",
+    "Use the left arm to pick up the metal body sauce can, move it near the compact kitchenpot with lid-like surface",
+    "Grab the hand-sized sauce can and move it near the medium kitchenpot",
+    "Use the left arm to pick up the metal body sauce can and move it beside the medium kitchenpot",
+    "Grab the metal body sauce can and place it beside the medium kitchenpot",
+    "Grab the hand-sized sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Lift the hand-sized sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to grab the hand-sized sauce can and place it by the kitchenpot for cooking food",
+    "Pick up the sauce can with smooth surface and move it near the medium kitchenpot",
+    "Grab the metal body sauce can and set it beside the kitchenpot for cooking food",
+    "Pick up the hand-sized sauce can and set it beside the medium kitchenpot",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the compact kitchenpot with lid-like surface",
+    "Grab the metal body sauce can and move it near the medium kitchenpot",
+    "Use the left arm to pick up the metal body sauce can and move it beside the kitchenpot for cooking food",
+    "Grab the hand-sized sauce can and place it beside the kitchenpot for cooking food",
+    "Grab the metal body sauce can and place it near the kitchenpot for cooking food",
+    "Lift the sauce can with smooth surface and set it beside the kitchenpot for cooking food",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the compact kitchenpot with lid-like surface",
+    "Pick up the metal body sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with smooth surface and set it beside the medium kitchenpot",
+    "Pick up the hand-sized sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the kitchenpot for cooking food",
+    "Grab the sauce can with smooth surface and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the kitchenpot for cooking food",
+    "Grab the metal body sauce can and place it beside the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with smooth surface and place it near the compact kitchenpot with lid-like surface",
+    "Lift the metal body sauce can and set it beside the medium kitchenpot",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the medium kitchenpot",
+    "Pick up the hand-sized sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with smooth surface and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the hand-sized sauce can and set it beside the kitchenpot for cooking food",
+    "Use the left arm to pick up the metal body sauce can, move it near the kitchenpot for cooking food",
+    "Grab the hand-sized sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the kitchenpot for cooking food",
+    "Grab the metal body sauce can and place it beside the medium kitchenpot",
+    "Grab the sauce can with smooth surface and place it near the medium kitchenpot",
+    "Lift the metal body sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the kitchenpot for cooking food",
+    "Pick up the metal body sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Grab the metal body sauce can and set it beside the medium kitchenpot",
+    "Pick up the hand-sized sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the metal body sauce can, move it near the medium kitchenpot",
+    "Grab the metal body sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the metal body sauce can and move it beside the medium kitchenpot",
+    "Grab the hand-sized sauce can and place it beside the medium kitchenpot"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001014.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the white sauce can with label beside the kitchenpot with flat lid and knob after picking it up",
+    "Move the white sauce can brown top beside the cooking pot with two blue handles after lifting it",
+    "Lift the brown-lid sauce can and move it near the blue kitchenpot with smooth matte sides",
+    "Pick up the smooth metal sauce can white using the right arm, transfer it beside the teal pot for boiling and cooking",
+    "Take the white sauce can with label using the right arm, set it next to the smooth teal kitchenpot for stovetop use",
+    "Take the hand-held sauce container with the right arm, bring it, and set next to the cooking pot with two blue handles",
+    "Use the right arm to move the brown-lid sauce can beside the medium teal-colored pot with flat lid",
+    "Lift the brown top white sauce can and place it next to the medium teal-colored pot with flat lid",
+    "Lift the white sauce can brown top and set it beside the medium-sized teal blue cooking pot",
+    "Place the cylindrical container for sauce next to the kitchenpot with two sturdy blue handles",
+    "Pick the white sauce can with label up and carefully position it beside the kitchenpot with two sturdy blue handles",
+    "Lift the white cylindrical sauce holder, then place it next to the medium-sized teal blue cooking pot",
+    "Pick the metal can with plastic lid up and move it next to the medium-sized teal blue cooking pot",
+    "Set the metal can with plastic lid right next to the blue kitchenpot with smooth matte sides",
+    "Using the right arm, lift the brown cap sauce storage can and place it by the medium teal-colored pot with flat lid",
+    "Move the metal can with plastic lid to be next to the round kitchenpot with two side grips",
+    "Grab the hand-held sauce container with the right arm and position it beside the smooth teal kitchenpot for stovetop use",
+    "With the right arm, grab the white cylindrical sauce holder and move to the medium-sized teal blue cooking pot",
+    "Take the hand-held sauce container with the right arm, place it near the medium-sized teal blue cooking pot",
+    "Lift the metal can with plastic lid using the right arm and position it by the round kitchenpot with two side grips",
+    "Use the right arm to lift the brown cap sauce storage can and place it near the medium-sized teal blue cooking pot",
+    "Grab the cylindrical container for sauce, shift it, and place it close to the teal pot for boiling and cooking",
+    "Use the right arm to pick the hand-held sauce container up and set it beside the blue kitchenpot with smooth matte sides",
+    "Pick the hand-held sauce container with the right arm and relocate it near the medium-sized teal blue cooking pot",
+    "Pick the hand-held sauce container up with the right arm then place near the medium-sized teal blue cooking pot",
+    "Lift the white cylindrical sauce holder and set it next to the medium teal blue kitchenpot with handles",
+    "Grab the white sauce can with label with the right arm and move it close to the kitchenpot with two sturdy blue handles",
+    "Pick up the brown cap sauce storage can with the right arm and set by the blue cylinder pot with smooth lid",
+    "Use the right arm to lift the white sauce can with label, then move it next to the round teal cooking pot with matte texture",
+    "Take the white label brown lidded can to the kitchenpot with two sturdy blue handles using the right arm",
+    "Pick the brown cap sauce storage can and position it next to the blue cylinder pot with smooth lid",
+    "Bring the white sauce can with label over and set it near the medium teal-colored pot with flat lid",
+    "Use the right arm to take the brown top white sauce can to the kitchenpot with flat lid and knob",
+    "Grab the white sauce can brown top, move it, and place by the round kitchenpot with two side grips",
+    "Lift the smooth metal sauce can white using the right arm and drop it beside the cooking pot with two blue handles",
+    "Use the right arm to grab the white sauce can with label and move it beside the medium teal-colored pot with flat lid",
+    "Use the right arm to pick the cylindrical can brown round top, position it near the kitchenpot with two sturdy blue handles",
+    "Move the hand-held sauce container to the smooth teal kitchenpot for stovetop use with the right arm",
+    "Set the cylindrical container for sauce near the round teal cooking pot with matte texture after picking it up",
+    "Move the white label brown lidded can from its spot to near the blue kitchenpot with smooth matte sides",
+    "Grab the white sauce can with label and move it close to the medium teal-colored pot with flat lid",
+    "Use the right arm to grab the brown-lid sauce can and transfer it near the cooking pot with two blue handles",
+    "Use the right arm to grab the smooth metal sauce can white, move it beside the round kitchenpot with two side grips",
+    "Lift the cylindrical container for sauce, place it by the blue kitchenpot with smooth matte sides",
+    "Pick up the hand-held sauce container and put it beside the medium teal-colored pot with flat lid",
+    "Use the right arm to grab the smooth metal sauce can white and move it next to the medium teal blue kitchenpot with handles",
+    "Grab the white sauce can with label, move it to the medium teal blue kitchenpot with handles's side",
+    "Grab the metal can with plastic lid with the right arm and set it near the blue cylinder pot with smooth lid",
+    "Lift the metal can with plastic lid and set it next to the smooth teal kitchenpot for stovetop use",
+    "Use the right arm to lift the cylindrical container for sauce and place it next to the medium teal-colored pot with flat lid",
+    "Place the hand-held sauce container beside the smooth teal kitchenpot for stovetop use after picking it up",
+    "Move the white sauce can with label beside the teal pot for boiling and cooking after lifting it",
+    "Lift the smooth metal sauce can white and move it near the cooking pot with two blue handles",
+    "Pick up the white label brown lidded can using the right arm, transfer it beside the medium teal-colored pot with flat lid",
+    "Take the cylindrical container for sauce using the right arm, set it next to the smooth teal kitchenpot for stovetop use",
+    "Take the brown cap sauce storage can with the right arm, bring it, and set next to the kitchenpot with flat lid and knob",
+    "Use the right arm to move the hand-held sauce container beside the blue kitchenpot with smooth matte sides",
+    "Lift the brown-lid sauce can and place it next to the teal pot for boiling and cooking",
+    "Lift the cylindrical can brown round top and set it beside the medium teal blue kitchenpot with handles",
+    "Place the white label brown lidded can next to the cooking pot with two blue handles",
+    "Pick the hand-held sauce container up and carefully position it beside the round teal cooking pot with matte texture",
+    "Lift the cylindrical container for sauce, then place it next to the smooth teal kitchenpot for stovetop use",
+    "Pick the white sauce can with label up and move it next to the round kitchenpot with two side grips",
+    "Set the brown-lid sauce can right next to the round teal cooking pot with matte texture",
+    "Using the right arm, lift the white sauce can brown top and place it by the round teal cooking pot with matte texture",
+    "Move the white sauce can with label to be next to the round teal cooking pot with matte texture",
+    "Grab the brown top white sauce can with the right arm and position it beside the medium teal-colored pot with flat lid",
+    "With the right arm, grab the white sauce can brown top and move to the teal pot for boiling and cooking",
+    "Take the white cylindrical sauce holder with the right arm, place it near the blue kitchenpot with smooth matte sides",
+    "Lift the brown top white sauce can using the right arm and position it by the blue kitchenpot with smooth matte sides",
+    "Use the right arm to lift the brown cap sauce storage can and place it near the cooking pot with two blue handles",
+    "Grab the white cylindrical sauce holder, shift it, and place it close to the medium teal-colored pot with flat lid",
+    "Use the right arm to pick the brown-lid sauce can up and set it beside the cooking pot with two blue handles",
+    "Pick the white label brown lidded can with the right arm and relocate it near the cooking pot with two blue handles",
+    "Pick the cylindrical can brown round top up with the right arm then place near the teal pot for boiling and cooking",
+    "Lift the smooth metal sauce can white and set it next to the medium-sized teal blue cooking pot",
+    "Grab the white cylindrical sauce holder with the right arm and move it close to the cooking pot with two blue handles",
+    "Pick up the white label brown lidded can with the right arm and set by the medium teal blue kitchenpot with handles",
+    "Use the right arm to lift the hand-held sauce container, then move it next to the round kitchenpot with two side grips",
+    "Take the metal can with plastic lid to the kitchenpot with flat lid and knob using the right arm",
+    "Pick the white cylindrical sauce holder and position it next to the kitchenpot with flat lid and knob",
+    "Bring the brown top white sauce can over and set it near the round teal cooking pot with matte texture",
+    "Use the right arm to take the brown-lid sauce can to the medium-sized teal blue cooking pot",
+    "Grab the hand-held sauce container, move it, and place by the teal pot for boiling and cooking",
+    "Lift the metal can with plastic lid using the right arm and drop it beside the medium-sized teal blue cooking pot",
+    "Use the right arm to grab the brown top white sauce can and move it beside the kitchenpot with two sturdy blue handles",
+    "Use the right arm to pick the white sauce can with label, position it near the kitchenpot with two sturdy blue handles",
+    "Move the brown cap sauce storage can to the blue cylinder pot with smooth lid with the right arm",
+    "Set the hand-held sauce container near the blue kitchenpot with smooth matte sides after picking it up",
+    "Move the brown-lid sauce can from its spot to near the smooth teal kitchenpot for stovetop use",
+    "Grab the hand-held sauce container and move it close to the medium-sized teal blue cooking pot",
+    "Use the right arm to grab the white cylindrical sauce holder and transfer it near the blue kitchenpot with smooth matte sides",
+    "Use the right arm to grab the white sauce can with label, move it beside the cooking pot with two blue handles",
+    "Lift the metal can with plastic lid, place it by the cooking pot with two blue handles",
+    "Pick up the white cylindrical sauce holder and put it beside the medium teal blue kitchenpot with handles",
+    "Use the right arm to grab the cylindrical container for sauce and move it next to the kitchenpot with flat lid and knob",
+    "Grab the cylindrical container for sauce, move it to the smooth teal kitchenpot for stovetop use's side",
+    "Grab the white label brown lidded can with the right arm and set it near the round kitchenpot with two side grips",
+    "Lift the hand-held sauce container and set it next to the kitchenpot with two sturdy blue handles",
+    "Use the right arm to lift the cylindrical container for sauce and place it next to the cooking pot with two blue handles"
+  ],
+  "unseen": [
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the blue kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and move it near the teal blue cooking pot",
+    "Grab the medium-size cylindrical sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the medium-size cylindrical sauce can and place it near the teal blue cooking pot",
+    "Lift the medium-size cylindrical sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Grab the sauce can and place it beside the teal blue cooking pot",
+    "Use the right arm to pick up the sauce can and move it beside the blue kitchenpot",
+    "Use the right arm to grab the sauce can and place it by the teal blue cooking pot",
+    "Grab the medium-size cylindrical sauce can and set it beside the teal blue cooking pot",
+    "Pick up the sauce can and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the sauce can, move it near the blue kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and move it near the blue kitchenpot",
+    "Grab the sauce can and move it near the blue kitchenpot",
+    "Grab the medium-size cylindrical sauce can and place it near the teal blue cooking pot",
+    "Lift the medium-size cylindrical sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Grab the medium sauce can with white label and place it beside the blue kitchenpot",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the sauce can and place it by the blue kitchenpot",
+    "Grab the sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Pick up the sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the medium sauce can with white label, move it near the blue kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the medium sauce can with white label and place it near the teal blue cooking pot",
+    "Lift the sauce can and set it beside the teal blue cooking pot",
+    "Grab the sauce can and place it beside the blue kitchenpot",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the teal blue cooking pot",
+    "Use the right arm to grab the medium-size cylindrical sauce can and place it by the blue kitchenpot",
+    "Grab the sauce can and set it beside the blue kitchenpot",
+    "Pick up the medium sauce can with white label and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the sauce can, move it near the teal blue cooking pot",
+    "Pick up the sauce can and move it near the blue kitchenpot",
+    "Grab the sauce can and move it near the blue kitchenpot",
+    "Grab the medium-size cylindrical sauce can and place it near the blue pot with cylindrical body and lid",
+    "Lift the sauce can and set it beside the blue kitchenpot",
+    "Grab the medium-size cylindrical sauce can and place it beside the teal blue cooking pot",
+    "Use the right arm to pick up the medium-size cylindrical sauce can and move it beside the blue kitchenpot",
+    "Use the right arm to grab the sauce can and place it by the teal blue cooking pot",
+    "Grab the medium-size cylindrical sauce can and set it beside the teal blue cooking pot",
+    "Pick up the medium sauce can with white label and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the blue pot with cylindrical body and lid",
+    "Pick up the medium sauce can with white label and move it near the blue pot with cylindrical body and lid",
+    "Grab the medium-size cylindrical sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the medium-size cylindrical sauce can and place it near the blue pot with cylindrical body and lid",
+    "Lift the medium-size cylindrical sauce can and set it beside the teal blue cooking pot",
+    "Grab the medium sauce can with white label and place it beside the blue kitchenpot",
+    "Use the right arm to pick up the sauce can and move it beside the teal blue cooking pot",
+    "Use the right arm to grab the medium-size cylindrical sauce can and place it by the teal blue cooking pot",
+    "Grab the medium-size cylindrical sauce can and set it beside the teal blue cooking pot",
+    "Pick up the medium sauce can with white label and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the blue kitchenpot",
+    "Pick up the medium sauce can with white label and move it near the blue pot with cylindrical body and lid",
+    "Grab the medium sauce can with white label and move it near the teal blue cooking pot",
+    "Grab the sauce can and place it near the teal blue cooking pot",
+    "Lift the medium sauce can with white label and set it beside the teal blue cooking pot",
+    "Grab the medium sauce can with white label and place it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the teal blue cooking pot",
+    "Use the right arm to grab the medium sauce can with white label and place it by the blue kitchenpot",
+    "Grab the medium sauce can with white label and set it beside the teal blue cooking pot",
+    "Pick up the medium-size cylindrical sauce can and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the medium sauce can with white label, move it near the blue pot with cylindrical body and lid",
+    "Pick up the medium-size cylindrical sauce can and move it near the teal blue cooking pot",
+    "Grab the medium sauce can with white label and move it near the blue kitchenpot",
+    "Grab the medium sauce can with white label and place it near the blue pot with cylindrical body and lid",
+    "Lift the sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Grab the medium-size cylindrical sauce can and place it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the sauce can and place it by the blue pot with cylindrical body and lid",
+    "Grab the medium sauce can with white label and set it beside the blue pot with cylindrical body and lid",
+    "Pick up the sauce can and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the teal blue cooking pot",
+    "Pick up the sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the medium-size cylindrical sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the sauce can and place it near the teal blue cooking pot",
+    "Lift the medium sauce can with white label and set it beside the teal blue cooking pot",
+    "Grab the medium sauce can with white label and place it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the teal blue cooking pot",
+    "Use the right arm to grab the medium sauce can with white label and place it by the blue kitchenpot",
+    "Grab the medium-size cylindrical sauce can and set it beside the blue kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the teal blue cooking pot",
+    "Pick up the medium sauce can with white label and move it near the teal blue cooking pot",
+    "Grab the medium-size cylindrical sauce can and move it near the teal blue cooking pot",
+    "Grab the sauce can and place it near the blue pot with cylindrical body and lid",
+    "Lift the medium sauce can with white label and set it beside the blue pot with cylindrical body and lid",
+    "Grab the medium sauce can with white label and place it beside the blue kitchenpot",
+    "Use the right arm to pick up the medium-size cylindrical sauce can and move it beside the blue kitchenpot",
+    "Use the right arm to grab the sauce can and place it by the blue kitchenpot",
+    "Grab the sauce can and set it beside the blue kitchenpot",
+    "Pick up the medium sauce can with white label and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the sauce can, move it near the blue pot with cylindrical body and lid",
+    "Pick up the medium sauce can with white label and move it near the blue kitchenpot",
+    "Grab the medium-size cylindrical sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the sauce can and place it near the blue kitchenpot",
+    "Lift the sauce can and set it beside the blue kitchenpot",
+    "Grab the sauce can and place it beside the teal blue cooking pot",
+    "Use the right arm to pick up the medium-size cylindrical sauce can and move it beside the teal blue cooking pot",
+    "Use the right arm to grab the medium sauce can with white label and place it by the blue kitchenpot",
+    "Grab the sauce can and set it beside the blue kitchenpot",
+    "Pick up the sauce can and set it beside the blue pot with cylindrical body and lid"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001016.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the cylindrical sauce can right next to the metallic pot with matte finish",
+    "Use the right arm to pick the medium sauce can with white lid up and set it beside the silver pot with black grips",
+    "Grab the hand-sized sauce can, move it to the silver pot with matching lid's side",
+    "Grab the white plastic lid sauce can with the right arm and position it beside the cooking pot with snug-fitting lid",
+    "Place the cylindrical sauce can beside the cooking pot with snug-fitting lid after picking it up",
+    "Grab the plastic lid sauce can, shift it, and place it close to the kitchenpot with smooth metallic lid",
+    "Take the cylindrical sauce can with the right arm, bring it, and set next to the silver pot with matching lid",
+    "Bring the white plastic lid sauce can over and set it near the cooking pot with snug-fitting lid",
+    "Pick the yellow brown sauce can and position it next to the silver kitchenpot with black grips",
+    "Pick the cylindrical sauce can up with the right arm then place near the metallic pot with matte finish",
+    "Use the right arm to pick the sauce can with glossy finish, position it near the silver pot with matching lid",
+    "With the right arm, grab the cylindrical sauce can and move to the rounded pot with curved handles",
+    "Pick up the rounded-edge sauce can using the right arm, transfer it beside the silver kitchenpot with black grips",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the kitchenpot with smooth metallic lid",
+    "Use the right arm to lift the hand-sized sauce can and place it near the silver pot with matching lid",
+    "Move the medium sauce can with white lid from its spot to near the silver kitchenpot with black grips",
+    "Pick up the rounded-edge sauce can and put it beside the metallic pot with plastic handles",
+    "Take the sauce can with the right arm, place it near the medium-sized pot with plastic grips",
+    "Lift the sauce can, place it by the metallic pot with matte finish",
+    "Use the right arm to grab the sauce can with glossy finish and move it beside the rounded pot with curved handles",
+    "Lift the white plastic lid sauce can using the right arm and position it by the metallic pot with matte finish",
+    "Grab the round sauce can with yellow pattern with the right arm and move it close to the silver pot with matching lid",
+    "Use the right arm to grab the cylindrical sauce can, move it beside the silver pot with matching lid",
+    "Using the right arm, lift the cylindrical sauce can and place it by the rounded silver pot with handles",
+    "Grab the medium sauce can with white lid with the right arm and set it near the medium silver pot for cooking",
+    "Use the right arm to lift the brown and yellow cylindrical sauce can, then move it next to the medium silver pot for cooking",
+    "Take the cylindrical sauce can using the right arm, set it next to the kitchenpot with smooth metallic lid",
+    "Use the right arm to take the hand-sized sauce can to the rounded silver pot with handles",
+    "Set the cylindrical sauce can near the silver pot with black grips after picking it up",
+    "Use the right arm to grab the rounded-edge sauce can and move it next to the silver pot with matching lid",
+    "Lift the cylindrical sauce can and set it beside the silver kitchenpot with black grips",
+    "Grab the brown and yellow cylindrical sauce can and move it close to the metallic pot with plastic handles",
+    "Take the cylindrical sauce can to the kitchenpot with smooth metallic lid using the right arm",
+    "Lift the cylindrical sauce can and set it next to the metallic pot with plastic handles",
+    "Lift the sauce can with sealed top, then place it next to the silver kitchenpot",
+    "Use the right arm to lift the sauce can with sealed top and place it next to the silver pot with matching lid",
+    "Move the yellow brown sauce can to be next to the medium silver pot for cooking",
+    "Use the right arm to grab the sauce can with glossy finish and transfer it near the silver kitchenpot",
+    "Lift the white plastic lid sauce can and place it next to the rounded pot with curved handles",
+    "Pick the round sauce can with yellow pattern up and move it next to the silver kitchenpot with black grips",
+    "Move the hand-sized sauce can to the medium silver pot for cooking with the right arm",
+    "Place the round sauce can with yellow pattern next to the metallic pot with matte finish",
+    "Pick the round sauce can with yellow pattern with the right arm and relocate it near the rounded silver pot with handles",
+    "Lift the hand-sized sauce can and set it next to the silver pot with black grips",
+    "Lift the sauce can using the right arm and drop it beside the metallic pot with plastic handles",
+    "Move the medium sauce can with white lid beside the silver kitchenpot after lifting it",
+    "Lift the sauce can with sealed top and move it near the medium-sized pot with plastic grips",
+    "Pick up the sauce can with sealed top with the right arm and set by the silver kitchenpot",
+    "Grab the plastic lid sauce can, move it, and place by the silver pot with black grips",
+    "Use the right arm to move the rounded-edge sauce can beside the metallic pot with matte finish",
+    "Set the round sauce can with yellow pattern right next to the silver pot with matching lid",
+    "Use the right arm to pick the plastic lid sauce can up and set it beside the rounded silver pot with handles",
+    "Grab the yellow brown sauce can, move it to the medium-sized pot with plastic grips's side",
+    "Grab the white plastic lid sauce can with the right arm and position it beside the rounded silver pot with handles",
+    "Place the sauce can with glossy finish beside the rounded pot with curved handles after picking it up",
+    "Grab the sauce can, shift it, and place it close to the medium silver pot for cooking",
+    "Take the sauce can with the right arm, bring it, and set next to the silver kitchenpot with black grips",
+    "Bring the cylindrical sauce can over and set it near the silver pot with matching lid",
+    "Pick the round sauce can with yellow pattern and position it next to the cooking pot with snug-fitting lid",
+    "Pick the round sauce can with yellow pattern up with the right arm then place near the metallic pot with plastic handles",
+    "Use the right arm to pick the yellow brown sauce can, position it near the kitchenpot with smooth metallic lid",
+    "With the right arm, grab the round sauce can with yellow pattern and move to the rounded silver pot with handles",
+    "Pick up the brown and yellow cylindrical sauce can using the right arm, transfer it beside the metallic pot with plastic handles",
+    "Pick the brown and yellow cylindrical sauce can up and carefully position it beside the rounded pot with curved handles",
+    "Use the right arm to lift the rounded-edge sauce can and place it near the kitchenpot with smooth metallic lid",
+    "Move the rounded-edge sauce can from its spot to near the metallic pot with matte finish",
+    "Pick up the cylindrical sauce can and put it beside the rounded silver pot with handles",
+    "Take the plastic lid sauce can with the right arm, place it near the rounded pot with curved handles",
+    "Lift the rounded-edge sauce can, place it by the silver kitchenpot",
+    "Use the right arm to grab the brown and yellow cylindrical sauce can and move it beside the metallic pot with plastic handles",
+    "Lift the medium sauce can with white lid using the right arm and position it by the silver kitchenpot",
+    "Grab the round sauce can with yellow pattern with the right arm and move it close to the silver kitchenpot with black grips",
+    "Use the right arm to grab the sauce can with glossy finish, move it beside the metallic pot with plastic handles",
+    "Using the right arm, lift the brown and yellow cylindrical sauce can and place it by the metallic pot with matte finish",
+    "Grab the yellow brown sauce can with the right arm and set it near the medium silver pot for cooking",
+    "Use the right arm to lift the hand-sized sauce can, then move it next to the silver kitchenpot with black grips",
+    "Take the yellow brown sauce can using the right arm, set it next to the medium silver pot for cooking",
+    "Use the right arm to take the white plastic lid sauce can to the silver pot with matching lid",
+    "Set the sauce can with sealed top near the silver pot with matching lid after picking it up",
+    "Use the right arm to grab the brown and yellow cylindrical sauce can and move it next to the silver kitchenpot",
+    "Lift the sauce can with glossy finish and set it beside the metallic pot with matte finish",
+    "Grab the medium sauce can with white lid and move it close to the silver kitchenpot with black grips",
+    "Take the rounded-edge sauce can to the silver pot with black grips using the right arm",
+    "Lift the medium sauce can with white lid and set it next to the silver pot with black grips",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the medium-sized pot with plastic grips",
+    "Use the right arm to lift the plastic lid sauce can and place it next to the rounded silver pot with handles",
+    "Move the hand-sized sauce can to be next to the rounded pot with curved handles",
+    "Use the right arm to grab the plastic lid sauce can and transfer it near the silver kitchenpot",
+    "Lift the rounded-edge sauce can and place it next to the silver kitchenpot with black grips",
+    "Pick the brown and yellow cylindrical sauce can up and move it next to the medium-sized pot with plastic grips",
+    "Move the yellow brown sauce can to the silver pot with black grips with the right arm",
+    "Place the brown and yellow cylindrical sauce can next to the medium silver pot for cooking",
+    "Pick the sauce can with the right arm and relocate it near the silver pot with matching lid",
+    "Lift the white plastic lid sauce can and set it next to the silver pot with matching lid",
+    "Lift the medium sauce can with white lid using the right arm and drop it beside the rounded silver pot with handles",
+    "Move the sauce can with glossy finish beside the rounded pot with curved handles after lifting it",
+    "Lift the white plastic lid sauce can and move it near the cooking pot with snug-fitting lid",
+    "Pick up the brown and yellow cylindrical sauce can with the right arm and set by the metallic pot with plastic handles",
+    "Grab the rounded-edge sauce can, move it, and place by the rounded pot with curved handles",
+    "Use the right arm to move the yellow brown sauce can beside the silver kitchenpot with black grips"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the medium kitchenpot with black handles",
+    "Grab the smooth sauce can and place it beside the medium kitchenpot with black handles",
+    "Pick up the yellow label on sauce can and move it near the rounded cooking pot with two handles",
+    "Use the right arm to grab the smooth sauce can and place it by the medium kitchenpot with black handles",
+    "Grab the yellow label on sauce can and set it beside the rounded cooking pot with two handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the medium kitchenpot with black handles",
+    "Pick up the brown sauce can with top lid and set it beside the rounded cooking pot with two handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Grab the yellow label on sauce can and move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the kitchenpot for stovetop boiling",
+    "Grab the smooth sauce can and place it beside the medium kitchenpot with black handles",
+    "Pick up the smooth sauce can and move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the smooth sauce can and place it by the rounded cooking pot with two handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Grab the brown sauce can with top lid and place it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the smooth sauce can and move it beside the kitchenpot for stovetop boiling",
+    "Pick up the yellow label on sauce can and set it beside the rounded cooking pot with two handles",
+    "Lift the brown sauce can with top lid and set it beside the rounded cooking pot with two handles",
+    "Grab the brown sauce can with top lid and move it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the kitchenpot for stovetop boiling",
+    "Grab the smooth sauce can and place it beside the kitchenpot for stovetop boiling",
+    "Pick up the yellow label on sauce can and move it near the medium kitchenpot with black handles",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the kitchenpot for stovetop boiling",
+    "Grab the yellow label on sauce can and set it beside the medium kitchenpot with black handles",
+    "Grab the smooth sauce can and place it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the smooth sauce can and move it beside the medium kitchenpot with black handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot for stovetop boiling",
+    "Lift the yellow label on sauce can and set it beside the medium kitchenpot with black handles",
+    "Grab the yellow label on sauce can and move it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the smooth sauce can, move it near the medium kitchenpot with black handles",
+    "Grab the yellow label on sauce can and place it beside the rounded cooking pot with two handles",
+    "Pick up the yellow label on sauce can and move it near the rounded cooking pot with two handles",
+    "Use the right arm to grab the smooth sauce can and place it by the rounded cooking pot with two handles",
+    "Grab the smooth sauce can and set it beside the medium kitchenpot with black handles",
+    "Grab the brown sauce can with top lid and place it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the rounded cooking pot with two handles",
+    "Pick up the smooth sauce can and set it beside the medium kitchenpot with black handles",
+    "Lift the smooth sauce can and set it beside the rounded cooking pot with two handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the medium kitchenpot with black handles",
+    "Grab the yellow label on sauce can and place it beside the medium kitchenpot with black handles",
+    "Pick up the yellow label on sauce can and move it near the medium kitchenpot with black handles",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the medium kitchenpot with black handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Grab the yellow label on sauce can and place it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the kitchenpot for stovetop boiling",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Lift the yellow label on sauce can and set it beside the rounded cooking pot with two handles",
+    "Grab the smooth sauce can and move it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the kitchenpot for stovetop boiling",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot for stovetop boiling",
+    "Pick up the yellow label on sauce can and move it near the medium kitchenpot with black handles",
+    "Use the right arm to grab the smooth sauce can and place it by the kitchenpot for stovetop boiling",
+    "Grab the yellow label on sauce can and set it beside the medium kitchenpot with black handles",
+    "Grab the smooth sauce can and place it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the smooth sauce can and move it beside the rounded cooking pot with two handles",
+    "Pick up the smooth sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot for stovetop boiling",
+    "Grab the yellow label on sauce can and move it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the rounded cooking pot with two handles",
+    "Grab the brown sauce can with top lid and place it beside the rounded cooking pot with two handles",
+    "Pick up the smooth sauce can and move it near the medium kitchenpot with black handles",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the kitchenpot for stovetop boiling",
+    "Grab the smooth sauce can and set it beside the rounded cooking pot with two handles",
+    "Grab the brown sauce can with top lid and place it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the smooth sauce can and move it beside the medium kitchenpot with black handles",
+    "Pick up the smooth sauce can and set it beside the medium kitchenpot with black handles",
+    "Lift the yellow label on sauce can and set it beside the medium kitchenpot with black handles",
+    "Grab the brown sauce can with top lid and move it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the medium kitchenpot with black handles",
+    "Grab the smooth sauce can and place it beside the rounded cooking pot with two handles",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the smooth sauce can and place it by the medium kitchenpot with black handles",
+    "Grab the smooth sauce can and set it beside the medium kitchenpot with black handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the kitchenpot for stovetop boiling",
+    "Pick up the smooth sauce can and set it beside the rounded cooking pot with two handles",
+    "Lift the yellow label on sauce can and set it beside the medium kitchenpot with black handles",
+    "Grab the smooth sauce can and move it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the medium kitchenpot with black handles",
+    "Grab the brown sauce can with top lid and place it beside the medium kitchenpot with black handles",
+    "Pick up the smooth sauce can and move it near the rounded cooking pot with two handles",
+    "Use the right arm to grab the yellow label on sauce can and place it by the kitchenpot for stovetop boiling",
+    "Grab the smooth sauce can and set it beside the rounded cooking pot with two handles",
+    "Grab the smooth sauce can and place it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the smooth sauce can and move it beside the medium kitchenpot with black handles",
+    "Pick up the brown sauce can with top lid and set it beside the rounded cooking pot with two handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Grab the smooth sauce can and move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the smooth sauce can, move it near the kitchenpot for stovetop boiling",
+    "Grab the yellow label on sauce can and place it beside the rounded cooking pot with two handles",
+    "Pick up the smooth sauce can and move it near the medium kitchenpot with black handles",
+    "Use the right arm to grab the smooth sauce can and place it by the medium kitchenpot with black handles",
+    "Grab the smooth sauce can and set it beside the rounded cooking pot with two handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the smooth sauce can and move it beside the medium kitchenpot with black handles",
+    "Pick up the brown sauce can with top lid and set it beside the medium kitchenpot with black handles",
+    "Lift the smooth sauce can and set it beside the rounded cooking pot with two handles"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001017.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Bring the sauce can with brown lid over and set it near the cooking pot with snug-fitting lid",
+    "Use the right arm to lift the smooth cylindrical sauce can and place it near the medium-sized pot with plastic grips",
+    "Lift the sauce can with brown lid, place it by the rounded silver pot with handles",
+    "Use the right arm to grab the brown sauce can and move it next to the medium-sized pot with plastic grips",
+    "Move the yellow and brown sauce can beside the rounded silver pot with handles after lifting it",
+    "Lift the brown sauce can using the right arm and position it by the medium silver pot for cooking",
+    "Pick the brown sauce can up with the right arm then place near the medium silver pot for cooking",
+    "Pick up the sauce can for condiments with the right arm and set by the silver pot with matching lid",
+    "Pick the brown sauce can and position it next to the silver pot with matching lid",
+    "Using the right arm, lift the metal sauce can and place it by the rounded silver pot with handles",
+    "Grab the sauce can with brown lid, move it to the metallic pot with matte finish's side",
+    "Place the cylindrical sauce can next to the rounded pot with curved handles",
+    "Grab the medium sauce can, shift it, and place it close to the rounded pot with curved handles",
+    "Move the brown top sauce can to be next to the metallic pot with matte finish",
+    "Use the right arm to lift the printed label sauce can and place it next to the metallic pot with matte finish",
+    "Move the cylindrical sauce can from its spot to near the metallic pot with matte finish",
+    "Lift the sauce can for condiments and set it next to the silver pot with black grips",
+    "Pick up the metal sauce can using the right arm, transfer it beside the silver kitchenpot with black grips",
+    "Move the metal sauce can to the rounded pot with curved handles with the right arm",
+    "Grab the metal sauce can with the right arm and set it near the silver kitchenpot",
+    "Pick the sauce can with brown lid up and carefully position it beside the silver pot with black grips",
+    "Use the right arm to pick the yellow label sauce can up and set it beside the medium silver pot for cooking",
+    "Lift the brown sauce can, then place it next to the medium-sized pot with plastic grips",
+    "Pick the yellow and brown sauce can with the right arm and relocate it near the metallic pot with matte finish",
+    "Lift the sauce can with ingredient information and move it near the metallic pot with plastic handles",
+    "Use the right arm to grab the smooth cylindrical sauce can and move it beside the medium silver pot for cooking",
+    "Use the right arm to pick the brown sauce can, position it near the silver kitchenpot",
+    "Take the metal sauce can to the medium silver pot for cooking using the right arm",
+    "Use the right arm to grab the yellow label sauce can, move it beside the silver pot with matching lid",
+    "Use the right arm to move the printed label sauce can beside the medium-sized pot with plastic grips",
+    "Set the sauce can for condiments near the metallic pot with matte finish after picking it up",
+    "Use the right arm to lift the medium sauce can, then move it next to the silver kitchenpot",
+    "Grab the metal sauce can and move it close to the rounded pot with curved handles",
+    "Grab the brown sauce can with the right arm and move it close to the kitchenpot with smooth metallic lid",
+    "With the right arm, grab the yellow and brown sauce can and move to the silver kitchenpot",
+    "Take the sauce can with brown lid using the right arm, set it next to the rounded pot with curved handles",
+    "Take the cylindrical sauce can with the right arm, place it near the kitchenpot with smooth metallic lid",
+    "Lift the sauce can with ingredient information and place it next to the cooking pot with snug-fitting lid",
+    "Place the yellow and brown sauce can beside the medium-sized pot with plastic grips after picking it up",
+    "Pick the yellow label sauce can up and move it next to the silver pot with black grips",
+    "Lift the brown sauce can and set it beside the medium-sized pot with plastic grips",
+    "Grab the printed label sauce can with the right arm and position it beside the metallic pot with plastic handles",
+    "Use the right arm to grab the brown sauce can and transfer it near the medium silver pot for cooking",
+    "Use the right arm to take the printed label sauce can to the kitchenpot with smooth metallic lid",
+    "Take the sauce can with ingredient information with the right arm, bring it, and set next to the silver kitchenpot",
+    "Pick up the brown top sauce can and put it beside the metallic pot with plastic handles",
+    "Lift the medium sauce can and set it next to the silver pot with matching lid",
+    "Grab the brown sauce can, move it, and place by the kitchenpot with smooth metallic lid",
+    "Lift the brown sauce can using the right arm and drop it beside the metallic pot with matte finish",
+    "Set the sauce can with brown lid right next to the silver pot with matching lid",
+    "Bring the printed label sauce can over and set it near the medium-sized pot with plastic grips",
+    "Use the right arm to lift the cylindrical sauce can and place it near the kitchenpot with smooth metallic lid",
+    "Lift the medium sauce can, place it by the rounded pot with curved handles",
+    "Use the right arm to grab the sauce can with ingredient information and move it next to the silver kitchenpot",
+    "Move the cylindrical sauce can beside the silver kitchenpot after lifting it",
+    "Lift the yellow and brown sauce can using the right arm and position it by the silver kitchenpot with black grips",
+    "Pick the printed label sauce can up with the right arm then place near the metallic pot with matte finish",
+    "Pick up the smooth cylindrical sauce can with the right arm and set by the silver kitchenpot with black grips",
+    "Pick the medium sauce can and position it next to the kitchenpot with smooth metallic lid",
+    "Using the right arm, lift the smooth cylindrical sauce can and place it by the cooking pot with snug-fitting lid",
+    "Grab the medium sauce can, move it to the metallic pot with plastic handles's side",
+    "Place the yellow label sauce can next to the silver kitchenpot",
+    "Grab the smooth cylindrical sauce can, shift it, and place it close to the silver kitchenpot",
+    "Move the brown top sauce can to be next to the silver kitchenpot with black grips",
+    "Use the right arm to lift the yellow and brown sauce can and place it next to the silver pot with matching lid",
+    "Move the yellow label sauce can from its spot to near the metallic pot with matte finish",
+    "Lift the metal sauce can and set it next to the silver kitchenpot",
+    "Pick up the sauce can with ingredient information using the right arm, transfer it beside the silver kitchenpot with black grips",
+    "Move the smooth cylindrical sauce can to the silver pot with black grips with the right arm",
+    "Grab the metal sauce can with the right arm and set it near the metallic pot with matte finish",
+    "Pick the brown top sauce can up and carefully position it beside the silver kitchenpot",
+    "Use the right arm to pick the printed label sauce can up and set it beside the medium-sized pot with plastic grips",
+    "Lift the yellow label sauce can, then place it next to the rounded silver pot with handles",
+    "Pick the printed label sauce can with the right arm and relocate it near the silver kitchenpot with black grips",
+    "Lift the sauce can with brown lid and move it near the silver pot with matching lid",
+    "Use the right arm to grab the yellow label sauce can and move it beside the rounded pot with curved handles",
+    "Use the right arm to pick the printed label sauce can, position it near the kitchenpot with smooth metallic lid",
+    "Take the brown sauce can to the cooking pot with snug-fitting lid using the right arm",
+    "Use the right arm to grab the medium sauce can, move it beside the silver pot with matching lid",
+    "Use the right arm to move the sauce can with brown lid beside the cooking pot with snug-fitting lid",
+    "Set the brown sauce can near the kitchenpot with smooth metallic lid after picking it up",
+    "Use the right arm to lift the sauce can with brown lid, then move it next to the kitchenpot with smooth metallic lid",
+    "Grab the printed label sauce can and move it close to the silver kitchenpot",
+    "Grab the sauce can with ingredient information with the right arm and move it close to the silver pot with black grips",
+    "With the right arm, grab the metal sauce can and move to the silver kitchenpot",
+    "Take the cylindrical sauce can using the right arm, set it next to the rounded silver pot with handles",
+    "Take the cylindrical sauce can with the right arm, place it near the rounded silver pot with handles",
+    "Lift the cylindrical sauce can and place it next to the kitchenpot with smooth metallic lid",
+    "Place the sauce can with ingredient information beside the medium-sized pot with plastic grips after picking it up",
+    "Pick the yellow and brown sauce can up and move it next to the rounded silver pot with handles",
+    "Lift the medium sauce can and set it beside the rounded silver pot with handles",
+    "Grab the yellow label sauce can with the right arm and position it beside the kitchenpot with smooth metallic lid",
+    "Use the right arm to grab the medium sauce can and transfer it near the metallic pot with matte finish",
+    "Use the right arm to take the medium sauce can to the cooking pot with snug-fitting lid",
+    "Take the printed label sauce can with the right arm, bring it, and set next to the silver kitchenpot with black grips",
+    "Pick up the sauce can for condiments and put it beside the cooking pot with snug-fitting lid",
+    "Lift the medium sauce can and set it next to the rounded pot with curved handles",
+    "Grab the yellow label sauce can, move it, and place by the rounded silver pot with handles",
+    "Lift the printed label sauce can using the right arm and drop it beside the rounded pot with curved handles",
+    "Set the brown sauce can right next to the metallic pot with matte finish"
+  ],
+  "unseen": [
+    "Grab the sauce can with smooth surface and place it beside the medium kitchenpot with black handles",
+    "Grab the sauce can with smooth surface and place it near the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the metal body sauce can and place it by the rounded cooking pot with two handles",
+    "Lift the hand-sized sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the metal body sauce can, move it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the medium kitchenpot with black handles",
+    "Grab the metal body sauce can and move it near the kitchenpot for stovetop boiling",
+    "Pick up the sauce can with smooth surface and set it beside the rounded cooking pot with two handles",
+    "Pick up the sauce can with smooth surface and move it near the medium kitchenpot with black handles",
+    "Grab the sauce can with smooth surface and set it beside the medium kitchenpot with black handles",
+    "Grab the hand-sized sauce can and place it beside the kitchenpot for stovetop boiling",
+    "Grab the sauce can with smooth surface and place it near the medium kitchenpot with black handles",
+    "Use the right arm to grab the metal body sauce can and place it by the kitchenpot for stovetop boiling",
+    "Lift the hand-sized sauce can and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the medium kitchenpot with black handles",
+    "Grab the metal body sauce can and move it near the medium kitchenpot with black handles",
+    "Pick up the metal body sauce can and set it beside the medium kitchenpot with black handles",
+    "Pick up the hand-sized sauce can and move it near the rounded cooking pot with two handles",
+    "Grab the hand-sized sauce can and set it beside the rounded cooking pot with two handles",
+    "Grab the metal body sauce can and place it beside the kitchenpot for stovetop boiling",
+    "Grab the metal body sauce can and place it near the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the metal body sauce can and place it by the medium kitchenpot with black handles",
+    "Lift the sauce can with smooth surface and set it beside the medium kitchenpot with black handles",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the rounded cooking pot with two handles",
+    "Grab the hand-sized sauce can and move it near the medium kitchenpot with black handles",
+    "Pick up the metal body sauce can and set it beside the medium kitchenpot with black handles",
+    "Pick up the metal body sauce can and move it near the medium kitchenpot with black handles",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot for stovetop boiling",
+    "Grab the sauce can with smooth surface and place it beside the medium kitchenpot with black handles",
+    "Grab the hand-sized sauce can and place it near the rounded cooking pot with two handles",
+    "Use the right arm to grab the metal body sauce can and place it by the rounded cooking pot with two handles",
+    "Lift the sauce can with smooth surface and set it beside the medium kitchenpot with black handles",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the kitchenpot for stovetop boiling",
+    "Grab the sauce can with smooth surface and move it near the medium kitchenpot with black handles",
+    "Pick up the metal body sauce can and set it beside the medium kitchenpot with black handles",
+    "Pick up the sauce can with smooth surface and move it near the medium kitchenpot with black handles",
+    "Grab the sauce can with smooth surface and set it beside the rounded cooking pot with two handles",
+    "Grab the metal body sauce can and place it beside the kitchenpot for stovetop boiling",
+    "Grab the sauce can with smooth surface and place it near the medium kitchenpot with black handles",
+    "Use the right arm to grab the hand-sized sauce can and place it by the kitchenpot for stovetop boiling",
+    "Lift the sauce can with smooth surface and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the medium kitchenpot with black handles",
+    "Grab the sauce can with smooth surface and move it near the medium kitchenpot with black handles",
+    "Pick up the hand-sized sauce can and set it beside the medium kitchenpot with black handles",
+    "Pick up the hand-sized sauce can and move it near the rounded cooking pot with two handles",
+    "Grab the hand-sized sauce can and set it beside the medium kitchenpot with black handles",
+    "Grab the hand-sized sauce can and place it beside the kitchenpot for stovetop boiling",
+    "Grab the metal body sauce can and place it near the medium kitchenpot with black handles",
+    "Use the right arm to grab the metal body sauce can and place it by the rounded cooking pot with two handles",
+    "Lift the hand-sized sauce can and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the medium kitchenpot with black handles",
+    "Grab the metal body sauce can and move it near the rounded cooking pot with two handles",
+    "Pick up the hand-sized sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Pick up the sauce can with smooth surface and move it near the rounded cooking pot with two handles",
+    "Grab the hand-sized sauce can and set it beside the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and place it beside the medium kitchenpot with black handles",
+    "Grab the hand-sized sauce can and place it near the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the kitchenpot for stovetop boiling",
+    "Lift the metal body sauce can and set it beside the medium kitchenpot with black handles",
+    "Use the right arm to pick up the metal body sauce can, move it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the medium kitchenpot with black handles",
+    "Grab the metal body sauce can and move it near the rounded cooking pot with two handles",
+    "Pick up the sauce can with smooth surface and set it beside the medium kitchenpot with black handles",
+    "Pick up the sauce can with smooth surface and move it near the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and set it beside the rounded cooking pot with two handles",
+    "Grab the metal body sauce can and place it beside the kitchenpot for stovetop boiling",
+    "Grab the metal body sauce can and place it near the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the medium kitchenpot with black handles",
+    "Lift the hand-sized sauce can and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the medium kitchenpot with black handles",
+    "Grab the hand-sized sauce can and move it near the kitchenpot for stovetop boiling",
+    "Pick up the hand-sized sauce can and set it beside the rounded cooking pot with two handles",
+    "Pick up the sauce can with smooth surface and move it near the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and set it beside the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and place it beside the rounded cooking pot with two handles",
+    "Grab the hand-sized sauce can and place it near the rounded cooking pot with two handles",
+    "Use the right arm to grab the hand-sized sauce can and place it by the medium kitchenpot with black handles",
+    "Lift the metal body sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the rounded cooking pot with two handles",
+    "Grab the hand-sized sauce can and move it near the rounded cooking pot with two handles",
+    "Pick up the metal body sauce can and set it beside the medium kitchenpot with black handles",
+    "Pick up the metal body sauce can and move it near the kitchenpot for stovetop boiling",
+    "Grab the sauce can with smooth surface and set it beside the medium kitchenpot with black handles",
+    "Grab the hand-sized sauce can and place it beside the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and place it near the rounded cooking pot with two handles",
+    "Use the right arm to grab the metal body sauce can and place it by the rounded cooking pot with two handles",
+    "Lift the sauce can with smooth surface and set it beside the medium kitchenpot with black handles",
+    "Use the right arm to pick up the metal body sauce can, move it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the metal body sauce can and move it beside the medium kitchenpot with black handles",
+    "Grab the hand-sized sauce can and move it near the rounded cooking pot with two handles",
+    "Pick up the sauce can with smooth surface and set it beside the rounded cooking pot with two handles",
+    "Pick up the sauce can with smooth surface and move it near the kitchenpot for stovetop boiling",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot for stovetop boiling"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001020.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the sauce can for condiments up and carefully position it beside the metal pot with dark handles",
+    "Grab the medium sauce can, shift it, and place it close to the pots for boiling and cooking",
+    "Grab the printed label sauce can with the left arm and set it near the cooking pot with two handles",
+    "Use the left arm to pick the yellow and brown sauce can, position it near the cooking pot with two handles",
+    "Pick up the yellow label sauce can and put it beside the matte gray pot with durable lid",
+    "Pick the yellow and brown sauce can and position it next to the kitchenpot with plastic knob on lid",
+    "Grab the brown sauce can, move it, and place by the gray pot with blue circular lid",
+    "Place the brown top sauce can beside the gray pot with blue circular lid after picking it up",
+    "Grab the sauce can with brown lid with the left arm and move it close to the pots for boiling and cooking",
+    "Grab the medium sauce can with the left arm and position it beside the kitchenpot with plastic knob on lid",
+    "Take the metal sauce can with the left arm, place it near the metal pot with dark handles",
+    "Lift the yellow label sauce can using the left arm and position it by the pots for boiling and cooking",
+    "Move the brown sauce can from its spot to near the kitchenpot with plastic knob on lid",
+    "Bring the brown sauce can over and set it near the blue kitchenpot lid with black knob",
+    "Move the cylindrical sauce can to be next to the cooking pot with two handles",
+    "Use the left arm to grab the yellow label sauce can and transfer it near the blue-lid kitchenpot",
+    "Pick up the yellow and brown sauce can using the left arm, transfer it beside the blue kitchenpot lid with black knob",
+    "Lift the sauce can with ingredient information and set it next to the gray cylindrical pot",
+    "Take the brown top sauce can to the metal kitchenpot with brown handles using the left arm",
+    "Pick the sauce can with brown lid with the left arm and relocate it near the metal kitchenpot with brown handles",
+    "Take the brown top sauce can with the left arm, bring it, and set next to the round blue-lid kitchenpot for stovetop",
+    "Lift the brown sauce can, place it by the gray pot with blue circular lid",
+    "Use the left arm to pick the metal sauce can up and set it beside the gray cylindrical pot",
+    "Lift the smooth cylindrical sauce can and place it next to the round blue-lid kitchenpot for stovetop",
+    "Pick the brown top sauce can up and move it next to the matte gray pot with durable lid",
+    "Lift the sauce can for condiments, then place it next to the gray pot with blue circular lid",
+    "Lift the sauce can for condiments and set it beside the cooking pot with two handles",
+    "Move the sauce can with brown lid to the cooking pot with two handles with the left arm",
+    "Use the left arm to lift the sauce can with ingredient information and place it next to the kitchenpot with plastic knob on lid",
+    "Use the left arm to take the yellow label sauce can to the pots for boiling and cooking",
+    "Use the left arm to lift the metal sauce can, then move it next to the gray cylindrical pot",
+    "Using the left arm, lift the metal sauce can and place it by the cooking pot with two handles",
+    "Use the left arm to grab the brown top sauce can and move it beside the gray kitchenpot",
+    "Set the sauce can with ingredient information right next to the gray cylindrical pot",
+    "Move the smooth cylindrical sauce can beside the gray cylindrical pot after lifting it",
+    "Use the left arm to lift the sauce can for condiments and place it near the blue-lid kitchenpot",
+    "Use the left arm to grab the sauce can with ingredient information, move it beside the gray kitchenpot",
+    "Use the left arm to move the cylindrical sauce can beside the gray pot with blue circular lid",
+    "Lift the medium sauce can and move it near the gray cylindrical pot",
+    "Use the left arm to grab the sauce can with ingredient information and move it next to the gray cylindrical pot",
+    "Pick up the sauce can with ingredient information with the left arm and set by the cooking pot with two handles",
+    "With the left arm, grab the sauce can with ingredient information and move to the kitchenpot with plastic knob on lid",
+    "Set the smooth cylindrical sauce can near the gray pot with blue circular lid after picking it up",
+    "Grab the medium sauce can, move it to the kitchenpot with plastic knob on lid's side",
+    "Pick the yellow and brown sauce can up with the left arm then place near the cooking pot with two handles",
+    "Grab the printed label sauce can and move it close to the kitchenpot with plastic knob on lid",
+    "Take the medium sauce can using the left arm, set it next to the pots for boiling and cooking",
+    "Lift the sauce can with ingredient information using the left arm and drop it beside the metal kitchenpot with brown handles",
+    "Lift the medium sauce can and set it next to the metal kitchenpot with brown handles",
+    "Place the smooth cylindrical sauce can next to the blue-lid kitchenpot",
+    "Pick the brown sauce can up and carefully position it beside the kitchenpot with plastic knob on lid",
+    "Grab the sauce can for condiments, shift it, and place it close to the gray cylindrical pot",
+    "Grab the sauce can for condiments with the left arm and set it near the metal kitchenpot with brown handles",
+    "Use the left arm to pick the printed label sauce can, position it near the metal pot with dark handles",
+    "Pick up the sauce can with brown lid and put it beside the matte gray pot with durable lid",
+    "Pick the brown top sauce can and position it next to the gray cylindrical pot",
+    "Grab the brown sauce can, move it, and place by the round blue-lid kitchenpot for stovetop",
+    "Place the sauce can with brown lid beside the gray kitchenpot after picking it up",
+    "Grab the medium sauce can with the left arm and move it close to the round blue-lid kitchenpot for stovetop",
+    "Grab the smooth cylindrical sauce can with the left arm and position it beside the pots for boiling and cooking",
+    "Take the sauce can for condiments with the left arm, place it near the pots for boiling and cooking",
+    "Lift the yellow label sauce can using the left arm and position it by the blue kitchenpot lid with black knob",
+    "Move the printed label sauce can from its spot to near the blue kitchenpot lid with black knob",
+    "Bring the smooth cylindrical sauce can over and set it near the blue kitchenpot lid with black knob",
+    "Move the metal sauce can to be next to the cooking pot with two handles",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the metal kitchenpot with brown handles",
+    "Pick up the printed label sauce can using the left arm, transfer it beside the cooking pot with two handles",
+    "Lift the sauce can for condiments and set it next to the round blue-lid kitchenpot for stovetop",
+    "Take the sauce can with ingredient information to the blue kitchenpot lid with black knob using the left arm",
+    "Pick the yellow label sauce can with the left arm and relocate it near the matte gray pot with durable lid",
+    "Take the sauce can with brown lid with the left arm, bring it, and set next to the round blue-lid kitchenpot for stovetop",
+    "Lift the sauce can with ingredient information, place it by the kitchenpot with plastic knob on lid",
+    "Use the left arm to pick the metal sauce can up and set it beside the matte gray pot with durable lid",
+    "Lift the brown sauce can and place it next to the blue-lid kitchenpot",
+    "Pick the sauce can for condiments up and move it next to the pots for boiling and cooking",
+    "Lift the cylindrical sauce can, then place it next to the gray kitchenpot",
+    "Lift the yellow and brown sauce can and set it beside the metal kitchenpot with brown handles",
+    "Move the yellow label sauce can to the kitchenpot with plastic knob on lid with the left arm",
+    "Use the left arm to lift the sauce can for condiments and place it next to the cooking pot with two handles",
+    "Use the left arm to take the medium sauce can to the metal kitchenpot with brown handles",
+    "Use the left arm to lift the brown sauce can, then move it next to the gray kitchenpot",
+    "Using the left arm, lift the brown top sauce can and place it by the blue-lid kitchenpot",
+    "Use the left arm to grab the printed label sauce can and move it beside the gray pot with blue circular lid",
+    "Set the sauce can with brown lid right next to the gray pot with blue circular lid",
+    "Move the yellow and brown sauce can beside the cooking pot with two handles after lifting it",
+    "Use the left arm to lift the printed label sauce can and place it near the gray pot with blue circular lid",
+    "Use the left arm to grab the medium sauce can, move it beside the metal kitchenpot with brown handles",
+    "Use the left arm to move the yellow label sauce can beside the round blue-lid kitchenpot for stovetop",
+    "Lift the printed label sauce can and move it near the pots for boiling and cooking",
+    "Use the left arm to grab the printed label sauce can and move it next to the kitchenpot with plastic knob on lid",
+    "Pick up the sauce can for condiments with the left arm and set by the gray cylindrical pot",
+    "With the left arm, grab the smooth cylindrical sauce can and move to the gray pot with blue circular lid",
+    "Set the printed label sauce can near the metal kitchenpot with brown handles after picking it up",
+    "Grab the smooth cylindrical sauce can, move it to the metal pot with dark handles's side",
+    "Pick the yellow label sauce can up with the left arm then place near the blue kitchenpot lid with black knob",
+    "Grab the brown top sauce can and move it close to the round blue-lid kitchenpot for stovetop",
+    "Take the yellow label sauce can using the left arm, set it next to the round blue-lid kitchenpot for stovetop",
+    "Lift the smooth cylindrical sauce can using the left arm and drop it beside the gray kitchenpot",
+    "Lift the yellow label sauce can and set it next to the gray kitchenpot",
+    "Place the sauce can with brown lid next to the matte gray pot with durable lid"
+  ],
+  "unseen": [
+    "Use the left arm to grab the sauce can with smooth surface and place it by the kitchenpot with smooth matte body",
+    "Pick up the sauce can with smooth surface and move it near the round pot with blue top",
+    "Use the left arm to pick up the metal body sauce can and move it beside the medium stove pot",
+    "Grab the sauce can with smooth surface and place it beside the medium stove pot",
+    "Pick up the metal body sauce can and set it beside the medium stove pot",
+    "Lift the sauce can with smooth surface and set it beside the medium stove pot",
+    "Grab the hand-sized sauce can and move it near the kitchenpot with smooth matte body",
+    "Grab the hand-sized sauce can and set it beside the round pot with blue top",
+    "Grab the metal body sauce can and place it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to grab the metal body sauce can and place it by the round pot with blue top",
+    "Pick up the hand-sized sauce can and move it near the round pot with blue top",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the round pot with blue top",
+    "Grab the metal body sauce can and place it beside the kitchenpot with smooth matte body",
+    "Pick up the hand-sized sauce can and set it beside the round pot with blue top",
+    "Lift the hand-sized sauce can and set it beside the medium stove pot",
+    "Grab the sauce can with smooth surface and move it near the medium stove pot",
+    "Grab the hand-sized sauce can and set it beside the medium stove pot",
+    "Grab the sauce can with smooth surface and place it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the round pot with blue top",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the medium stove pot",
+    "Pick up the metal body sauce can and move it near the round pot with blue top",
+    "Use the left arm to pick up the metal body sauce can and move it beside the medium stove pot",
+    "Grab the hand-sized sauce can and place it beside the round pot with blue top",
+    "Pick up the metal body sauce can and set it beside the kitchenpot with smooth matte body",
+    "Lift the metal body sauce can and set it beside the medium stove pot",
+    "Grab the metal body sauce can and move it near the medium stove pot",
+    "Grab the hand-sized sauce can and set it beside the round pot with blue top",
+    "Grab the hand-sized sauce can and place it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the metal body sauce can, move it near the round pot with blue top",
+    "Use the left arm to grab the metal body sauce can and place it by the medium stove pot",
+    "Pick up the sauce can with smooth surface and move it near the medium stove pot",
+    "Use the left arm to pick up the metal body sauce can and move it beside the round pot with blue top",
+    "Grab the metal body sauce can and place it beside the medium stove pot",
+    "Pick up the metal body sauce can and set it beside the medium stove pot",
+    "Lift the sauce can with smooth surface and set it beside the kitchenpot with smooth matte body",
+    "Grab the metal body sauce can and move it near the medium stove pot",
+    "Grab the metal body sauce can and set it beside the round pot with blue top",
+    "Grab the sauce can with smooth surface and place it near the medium stove pot",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to grab the hand-sized sauce can and place it by the medium stove pot",
+    "Pick up the metal body sauce can and move it near the medium stove pot",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the medium stove pot",
+    "Grab the metal body sauce can and place it beside the medium stove pot",
+    "Pick up the hand-sized sauce can and set it beside the medium stove pot",
+    "Lift the metal body sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the hand-sized sauce can and move it near the kitchenpot with smooth matte body",
+    "Grab the hand-sized sauce can and set it beside the medium stove pot",
+    "Grab the sauce can with smooth surface and place it near the round pot with blue top",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to grab the hand-sized sauce can and place it by the round pot with blue top",
+    "Pick up the hand-sized sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can with smooth surface and place it beside the medium stove pot",
+    "Pick up the sauce can with smooth surface and set it beside the kitchenpot with smooth matte body",
+    "Lift the hand-sized sauce can and set it beside the medium stove pot",
+    "Grab the hand-sized sauce can and move it near the medium stove pot",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can with smooth surface and place it near the medium stove pot",
+    "Use the left arm to pick up the metal body sauce can, move it near the medium stove pot",
+    "Use the left arm to grab the hand-sized sauce can and place it by the kitchenpot with smooth matte body",
+    "Pick up the sauce can with smooth surface and move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can with smooth surface and place it beside the round pot with blue top",
+    "Pick up the hand-sized sauce can and set it beside the round pot with blue top",
+    "Lift the hand-sized sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the hand-sized sauce can and move it near the medium stove pot",
+    "Grab the sauce can with smooth surface and set it beside the round pot with blue top",
+    "Grab the metal body sauce can and place it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the metal body sauce can, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the round pot with blue top",
+    "Pick up the hand-sized sauce can and move it near the medium stove pot",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the medium stove pot",
+    "Grab the sauce can with smooth surface and place it beside the round pot with blue top",
+    "Pick up the sauce can with smooth surface and set it beside the round pot with blue top",
+    "Lift the sauce can with smooth surface and set it beside the round pot with blue top",
+    "Grab the hand-sized sauce can and move it near the round pot with blue top",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can with smooth surface and place it near the medium stove pot",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the medium stove pot",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the medium stove pot",
+    "Pick up the sauce can with smooth surface and move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the medium stove pot",
+    "Grab the sauce can with smooth surface and place it beside the medium stove pot",
+    "Pick up the sauce can with smooth surface and set it beside the kitchenpot with smooth matte body",
+    "Lift the hand-sized sauce can and set it beside the round pot with blue top",
+    "Grab the hand-sized sauce can and move it near the kitchenpot with smooth matte body",
+    "Grab the hand-sized sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the metal body sauce can and place it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to grab the metal body sauce can and place it by the medium stove pot",
+    "Pick up the sauce can with smooth surface and move it near the round pot with blue top",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the medium stove pot",
+    "Grab the hand-sized sauce can and place it beside the kitchenpot with smooth matte body",
+    "Pick up the sauce can with smooth surface and set it beside the round pot with blue top",
+    "Lift the sauce can with smooth surface and set it beside the kitchenpot with smooth matte body",
+    "Grab the metal body sauce can and move it near the round pot with blue top",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can with smooth surface and place it near the round pot with blue top",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the medium stove pot"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001022.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, grab the cylindrical sauce can and move to the blue cylinder pot with smooth lid",
+    "Pick the sauce can with red lid and position it next to the medium teal blue kitchenpot with handles",
+    "Place the metal body sauce can next to the smooth teal kitchenpot for stovetop use",
+    "Pick up the sauce can with red lid and put it beside the kitchenpot with flat lid and knob",
+    "Pick the red can with orange label up and carefully position it beside the kitchenpot with two sturdy blue handles",
+    "Move the red can with orange label beside the round kitchenpot with two side grips after lifting it",
+    "Grab the sauce can with printed design with the right arm and position it beside the blue kitchenpot with smooth matte sides",
+    "Grab the metal body sauce can, shift it, and place it close to the medium-sized teal blue cooking pot",
+    "Lift the smooth sauce can and place it next to the kitchenpot with flat lid and knob",
+    "Grab the sturdy sauce can with glossy finish with the right arm and set it near the teal pot for boiling and cooking",
+    "Use the right arm to grab the sauce can with red lid and move it beside the smooth teal kitchenpot for stovetop use",
+    "Take the metal body sauce can with the right arm, place it near the blue kitchenpot with smooth matte sides",
+    "Place the sauce can with red lid beside the teal pot for boiling and cooking after picking it up",
+    "Use the right arm to grab the red and orange sauce can, move it beside the medium teal-colored pot with flat lid",
+    "Using the right arm, lift the smooth sauce can and place it by the teal pot for boiling and cooking",
+    "Lift the sauce can with red lid and set it next to the cooking pot with two blue handles",
+    "Move the red can with orange label to be next to the smooth teal kitchenpot for stovetop use",
+    "Set the small metal sauce container near the kitchenpot with two sturdy blue handles after picking it up",
+    "Use the right arm to pick the cylindrical sauce can, position it near the medium-sized teal blue cooking pot",
+    "Bring the cylindrical sauce can over and set it near the round teal cooking pot with matte texture",
+    "Take the compact sauce can with plastic lid using the right arm, set it next to the round teal cooking pot with matte texture",
+    "Lift the sauce can with red lid, then place it next to the medium teal-colored pot with flat lid",
+    "Grab the sturdy sauce can with glossy finish, move it, and place by the smooth teal kitchenpot for stovetop use",
+    "Move the red and orange sauce can to the smooth teal kitchenpot for stovetop use with the right arm",
+    "Lift the small metal sauce container using the right arm and drop it beside the blue cylinder pot with smooth lid",
+    "Take the sauce can with rounded top cap with the right arm, bring it, and set next to the medium-sized teal blue cooking pot",
+    "Pick the sauce can with red lid up with the right arm then place near the round teal cooking pot with matte texture",
+    "Use the right arm to lift the small cylindrical sauce can, then move it next to the cooking pot with two blue handles",
+    "Pick the sturdy sauce can with glossy finish up and move it next to the kitchenpot with flat lid and knob",
+    "Move the sauce can with rounded top cap from its spot to near the medium teal-colored pot with flat lid",
+    "Use the right arm to pick the compact sauce can with plastic lid up and set it beside the blue cylinder pot with smooth lid",
+    "Pick up the compact sauce can with plastic lid using the right arm, transfer it beside the cooking pot with two blue handles",
+    "Lift the cylindrical sauce can, place it by the round kitchenpot with two side grips",
+    "Take the small metal sauce container to the blue kitchenpot with smooth matte sides using the right arm",
+    "Use the right arm to lift the red can with orange label and place it near the medium teal-colored pot with flat lid",
+    "Lift the cylindrical sauce can using the right arm and position it by the smooth teal kitchenpot for stovetop use",
+    "Use the right arm to grab the sturdy sauce can with glossy finish and move it next to the round teal cooking pot with matte texture",
+    "Grab the small cylindrical sauce can, move it to the smooth teal kitchenpot for stovetop use's side",
+    "Grab the sauce can with rounded top cap with the right arm and move it close to the kitchenpot with two sturdy blue handles",
+    "Lift the sturdy sauce can with glossy finish and move it near the cooking pot with two blue handles",
+    "Use the right arm to take the red and orange sauce can to the medium-sized teal blue cooking pot",
+    "Pick up the compact sauce can with plastic lid with the right arm and set by the medium teal-colored pot with flat lid",
+    "Pick the cylindrical sauce can with the right arm and relocate it near the medium teal blue kitchenpot with handles",
+    "Set the smooth sauce can right next to the kitchenpot with two sturdy blue handles",
+    "Lift the compact sauce can with plastic lid and set it next to the cooking pot with two blue handles",
+    "Use the right arm to grab the small metal sauce container and transfer it near the kitchenpot with two sturdy blue handles",
+    "Lift the cylindrical sauce can and set it beside the kitchenpot with flat lid and knob",
+    "Use the right arm to move the red and orange sauce can beside the kitchenpot with two sturdy blue handles",
+    "Grab the smooth sauce can and move it close to the kitchenpot with flat lid and knob",
+    "Use the right arm to lift the metal body sauce can and place it next to the medium teal blue kitchenpot with handles",
+    "With the right arm, grab the metal body sauce can and move to the medium teal-colored pot with flat lid",
+    "Pick the red and orange sauce can and position it next to the medium teal blue kitchenpot with handles",
+    "Place the smooth sauce can next to the round kitchenpot with two side grips",
+    "Pick up the small cylindrical sauce can and put it beside the blue cylinder pot with smooth lid",
+    "Pick the red and orange sauce can up and carefully position it beside the kitchenpot with two sturdy blue handles",
+    "Move the sauce can with printed design beside the medium teal-colored pot with flat lid after lifting it",
+    "Grab the metal body sauce can with the right arm and position it beside the kitchenpot with two sturdy blue handles",
+    "Grab the red and orange sauce can, shift it, and place it close to the kitchenpot with flat lid and knob",
+    "Lift the sauce can with printed design and place it next to the blue kitchenpot with smooth matte sides",
+    "Grab the red can with orange label with the right arm and set it near the medium teal-colored pot with flat lid",
+    "Use the right arm to grab the smooth sauce can and move it beside the cooking pot with two blue handles",
+    "Take the red can with orange label with the right arm, place it near the medium teal-colored pot with flat lid",
+    "Place the smooth sauce can beside the teal pot for boiling and cooking after picking it up",
+    "Use the right arm to grab the red can with orange label, move it beside the smooth teal kitchenpot for stovetop use",
+    "Using the right arm, lift the sauce can with red lid and place it by the teal pot for boiling and cooking",
+    "Lift the sturdy sauce can with glossy finish and set it next to the medium-sized teal blue cooking pot",
+    "Move the red and orange sauce can to be next to the blue kitchenpot with smooth matte sides",
+    "Set the smooth sauce can near the medium-sized teal blue cooking pot after picking it up",
+    "Use the right arm to pick the sauce can with rounded top cap, position it near the blue kitchenpot with smooth matte sides",
+    "Bring the compact sauce can with plastic lid over and set it near the smooth teal kitchenpot for stovetop use",
+    "Take the cylindrical sauce can using the right arm, set it next to the smooth teal kitchenpot for stovetop use",
+    "Lift the sturdy sauce can with glossy finish, then place it next to the blue kitchenpot with smooth matte sides",
+    "Grab the sturdy sauce can with glossy finish, move it, and place by the teal pot for boiling and cooking",
+    "Move the sauce can with printed design to the round teal cooking pot with matte texture with the right arm",
+    "Lift the cylindrical sauce can using the right arm and drop it beside the blue kitchenpot with smooth matte sides",
+    "Take the red and orange sauce can with the right arm, bring it, and set next to the round kitchenpot with two side grips",
+    "Pick the sauce can with rounded top cap up with the right arm then place near the round kitchenpot with two side grips",
+    "Use the right arm to lift the sauce can with rounded top cap, then move it next to the blue kitchenpot with smooth matte sides",
+    "Pick the small metal sauce container up and move it next to the smooth teal kitchenpot for stovetop use",
+    "Move the compact sauce can with plastic lid from its spot to near the blue kitchenpot with smooth matte sides",
+    "Use the right arm to pick the small cylindrical sauce can up and set it beside the kitchenpot with two sturdy blue handles",
+    "Pick up the metal body sauce can using the right arm, transfer it beside the blue kitchenpot with smooth matte sides",
+    "Lift the sauce can with printed design, place it by the medium teal blue kitchenpot with handles",
+    "Take the metal body sauce can to the teal pot for boiling and cooking using the right arm",
+    "Use the right arm to lift the small cylindrical sauce can and place it near the blue cylinder pot with smooth lid",
+    "Lift the smooth sauce can using the right arm and position it by the teal pot for boiling and cooking",
+    "Use the right arm to grab the red and orange sauce can and move it next to the kitchenpot with flat lid and knob",
+    "Grab the sturdy sauce can with glossy finish, move it to the round teal cooking pot with matte texture's side",
+    "Grab the red can with orange label with the right arm and move it close to the medium-sized teal blue cooking pot",
+    "Lift the small metal sauce container and move it near the kitchenpot with two sturdy blue handles",
+    "Use the right arm to take the red can with orange label to the round teal cooking pot with matte texture",
+    "Pick up the sturdy sauce can with glossy finish with the right arm and set by the round kitchenpot with two side grips",
+    "Pick the sturdy sauce can with glossy finish with the right arm and relocate it near the blue cylinder pot with smooth lid",
+    "Set the smooth sauce can right next to the kitchenpot with flat lid and knob",
+    "Lift the red can with orange label and set it next to the blue kitchenpot with smooth matte sides",
+    "Use the right arm to grab the cylindrical sauce can and transfer it near the medium teal blue kitchenpot with handles",
+    "Lift the sturdy sauce can with glossy finish and set it beside the round kitchenpot with two side grips",
+    "Use the right arm to move the red and orange sauce can beside the kitchenpot with flat lid and knob",
+    "Grab the red and orange sauce can and move it close to the teal pot for boiling and cooking",
+    "Use the right arm to lift the sauce can with red lid and place it next to the medium teal-colored pot with flat lid"
+  ],
+  "unseen": [
+    "Use the right arm to pick up the red can with white text, move it near the teal blue cooking pot",
+    "Grab the red sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the red can with white text and place it by the blue pot with cylindrical body and lid",
+    "Pick up the red sauce can and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the red can with white text and move it beside the blue kitchenpot",
+    "Grab the red can with white text and place it beside the blue kitchenpot",
+    "Grab the red sauce can and place it near the blue pot with cylindrical body and lid",
+    "Lift the red sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Pick up the red sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the blue kitchenpot",
+    "Grab the red can with white text and set it beside the teal blue cooking pot",
+    "Use the right arm to grab the red can with white text and place it by the blue pot with cylindrical body and lid",
+    "Pick up the red can with white text and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the red sauce can and move it beside the blue kitchenpot",
+    "Grab the red can with white text and place it beside the teal blue cooking pot",
+    "Grab the red can with white text and place it near the blue kitchenpot",
+    "Lift the red can with white text and set it beside the teal blue cooking pot",
+    "Pick up the red sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the red can with white text, move it near the teal blue cooking pot",
+    "Grab the red sauce can and set it beside the blue kitchenpot",
+    "Use the right arm to grab the red can with white text and place it by the blue pot with cylindrical body and lid",
+    "Pick up the sauce can with round ridged lid and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the blue kitchenpot",
+    "Grab the red sauce can and place it beside the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and place it near the blue kitchenpot",
+    "Lift the sauce can with round ridged lid and set it beside the blue pot with cylindrical body and lid",
+    "Pick up the red sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the red sauce can and move it near the teal blue cooking pot",
+    "Use the right arm to pick up the red can with white text, move it near the blue kitchenpot",
+    "Grab the red can with white text and set it beside the blue kitchenpot",
+    "Use the right arm to grab the red can with white text and place it by the blue kitchenpot",
+    "Pick up the red sauce can and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the red can with white text and move it beside the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and place it beside the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and place it near the teal blue cooking pot",
+    "Lift the red sauce can and set it beside the teal blue cooking pot",
+    "Pick up the red sauce can and move it near the blue kitchenpot",
+    "Grab the red sauce can and move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the red can with white text, move it near the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and set it beside the blue kitchenpot",
+    "Use the right arm to grab the red can with white text and place it by the teal blue cooking pot",
+    "Pick up the red can with white text and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the red can with white text and move it beside the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and place it beside the blue kitchenpot",
+    "Grab the red sauce can and place it near the blue pot with cylindrical body and lid",
+    "Lift the red can with white text and set it beside the blue pot with cylindrical body and lid",
+    "Pick up the sauce can with round ridged lid and move it near the blue kitchenpot",
+    "Grab the red sauce can and move it near the teal blue cooking pot",
+    "Use the right arm to pick up the red can with white text, move it near the blue pot with cylindrical body and lid",
+    "Grab the red sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the red can with white text and place it by the blue kitchenpot",
+    "Pick up the sauce can with round ridged lid and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the red sauce can and move it beside the blue kitchenpot",
+    "Grab the red can with white text and place it beside the teal blue cooking pot",
+    "Grab the red sauce can and place it near the teal blue cooking pot",
+    "Lift the red sauce can and set it beside the blue kitchenpot",
+    "Pick up the sauce can with round ridged lid and move it near the teal blue cooking pot",
+    "Grab the red sauce can and move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the red can with white text, move it near the blue kitchenpot",
+    "Grab the red sauce can and set it beside the teal blue cooking pot",
+    "Use the right arm to grab the red sauce can and place it by the teal blue cooking pot",
+    "Pick up the red can with white text and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the red can with white text and move it beside the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and place it beside the teal blue cooking pot",
+    "Grab the red can with white text and place it near the blue kitchenpot",
+    "Lift the sauce can with round ridged lid and set it beside the blue kitchenpot",
+    "Pick up the red can with white text and move it near the teal blue cooking pot",
+    "Grab the red can with white text and move it near the teal blue cooking pot",
+    "Use the right arm to pick up the red sauce can, move it near the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the sauce can with round ridged lid and place it by the blue pot with cylindrical body and lid",
+    "Pick up the sauce can with round ridged lid and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the red can with white text and move it beside the blue kitchenpot",
+    "Grab the red sauce can and place it beside the teal blue cooking pot",
+    "Grab the red can with white text and place it near the blue pot with cylindrical body and lid",
+    "Lift the red sauce can and set it beside the teal blue cooking pot",
+    "Pick up the sauce can with round ridged lid and move it near the blue kitchenpot",
+    "Grab the red can with white text and move it near the blue kitchenpot",
+    "Use the right arm to pick up the red can with white text, move it near the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and set it beside the blue kitchenpot",
+    "Use the right arm to grab the red can with white text and place it by the teal blue cooking pot",
+    "Pick up the red sauce can and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the red can with white text and move it beside the teal blue cooking pot",
+    "Grab the red can with white text and place it beside the blue kitchenpot",
+    "Grab the red sauce can and place it near the blue kitchenpot",
+    "Lift the sauce can with round ridged lid and set it beside the blue kitchenpot",
+    "Pick up the red can with white text and move it near the blue pot with cylindrical body and lid",
+    "Grab the red sauce can and move it near the teal blue cooking pot",
+    "Use the right arm to pick up the red sauce can, move it near the blue kitchenpot",
+    "Grab the red can with white text and set it beside the blue kitchenpot",
+    "Use the right arm to grab the sauce can with round ridged lid and place it by the blue kitchenpot",
+    "Pick up the red sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and place it beside the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and place it near the blue pot with cylindrical body and lid",
+    "Lift the red can with white text and set it beside the blue pot with cylindrical body and lid",
+    "Pick up the sauce can with round ridged lid and move it near the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and move it near the teal blue cooking pot"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001023.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the white sauce can brown top using the right arm, set it next to the cooking kitchenpot with side grips",
+    "Lift the smooth metal sauce can white, then place it next to the cylindrical kitchenpot",
+    "Lift the white label brown lidded can using the right arm and position it by the kitchenpot for boiling and cooking",
+    "Using the right arm, lift the brown-lid sauce can and place it by the cooking kitchenpot with side grips",
+    "Grab the brown top white sauce can, shift it, and place it close to the metal kitchenpot",
+    "Lift the white cylindrical sauce holder using the right arm and drop it beside the round kitchenpot with handles",
+    "Use the right arm to lift the white cylindrical sauce holder and place it near the dark gray stove kitchenpot",
+    "Lift the brown top white sauce can and set it next to the metal kitchenpot",
+    "Lift the white label brown lidded can and set it beside the kitchenpot with smooth exterior",
+    "Lift the smooth metal sauce can white and set it next to the cylindrical kitchenpot",
+    "Use the right arm to grab the white label brown lidded can and move it next to the cooking kitchenpot with side grips",
+    "Grab the cylindrical can brown round top, move it to the kitchenpot with smooth exterior's side",
+    "Pick up the white label brown lidded can with the right arm and set by the smooth gray kitchenpot",
+    "Use the right arm to pick the brown-lid sauce can, position it near the gray cylindrical metal kitchenpot",
+    "Move the white sauce can with label beside the kitchenpot with smooth exterior after lifting it",
+    "Grab the cylindrical container for sauce with the right arm and position it beside the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical container for sauce and move it near the cooking kitchenpot with side grips",
+    "Pick the white label brown lidded can up and move it next to the metal kitchenpot",
+    "Pick the smooth metal sauce can white and position it next to the kitchenpot for boiling and cooking",
+    "Set the cylindrical can brown round top right next to the medium kitchenpot made of metal",
+    "Take the brown top white sauce can with the right arm, place it near the dark gray stove kitchenpot",
+    "Use the right arm to grab the cylindrical can brown round top and move it beside the gray cylindrical metal kitchenpot",
+    "Use the right arm to take the brown-lid sauce can to the gray kitchenpot",
+    "With the right arm, grab the cylindrical can brown round top and move to the cooking kitchenpot with side grips",
+    "Pick the white cylindrical sauce holder up with the right arm then place near the metal kitchenpot",
+    "Place the metal can with plastic lid next to the gray kitchenpot",
+    "Grab the hand-held sauce container with the right arm and move it close to the kitchenpot with smooth exterior",
+    "Lift the hand-held sauce container and place it next to the kitchenpot with smooth exterior",
+    "Grab the white cylindrical sauce holder and move it close to the kitchenpot for boiling and cooking",
+    "Lift the cylindrical container for sauce, place it by the metal kitchenpot",
+    "Take the hand-held sauce container to the smooth gray kitchenpot using the right arm",
+    "Use the right arm to lift the white sauce can brown top and place it next to the kitchenpot for boiling and cooking",
+    "Use the right arm to move the white cylindrical sauce holder beside the medium kitchenpot made of metal",
+    "Pick the smooth metal sauce can white up and carefully position it beside the metal kitchenpot",
+    "Pick up the white label brown lidded can using the right arm, transfer it beside the smooth gray kitchenpot",
+    "Use the right arm to lift the white label brown lidded can, then move it next to the gray kitchenpot",
+    "Pick the smooth metal sauce can white with the right arm and relocate it near the gray kitchenpot",
+    "Set the white cylindrical sauce holder near the cylindrical kitchenpot after picking it up",
+    "Use the right arm to grab the metal can with plastic lid, move it beside the kitchenpot with smooth exterior",
+    "Move the white cylindrical sauce holder from its spot to near the smooth gray kitchenpot",
+    "Take the white sauce can brown top with the right arm, bring it, and set next to the kitchenpot with smooth exterior",
+    "Grab the brown cap sauce storage can with the right arm and set it near the round kitchenpot with handles",
+    "Pick up the white sauce can with label and put it beside the kitchenpot for boiling and cooking",
+    "Place the cylindrical can brown round top beside the medium kitchenpot made of metal after picking it up",
+    "Use the right arm to pick the cylindrical can brown round top up and set it beside the cooking kitchenpot with side grips",
+    "Use the right arm to grab the hand-held sauce container and transfer it near the smooth gray kitchenpot",
+    "Grab the smooth metal sauce can white, move it, and place by the medium kitchenpot made of metal",
+    "Move the white cylindrical sauce holder to be next to the medium kitchenpot made of metal",
+    "Move the smooth metal sauce can white to the kitchenpot with smooth exterior with the right arm",
+    "Bring the white cylindrical sauce holder over and set it near the cylindrical kitchenpot",
+    "Take the white sauce can with label using the right arm, set it next to the kitchenpot for boiling and cooking",
+    "Lift the cylindrical can brown round top, then place it next to the cylindrical kitchenpot",
+    "Lift the brown top white sauce can using the right arm and position it by the cylindrical kitchenpot",
+    "Using the right arm, lift the white sauce can with label and place it by the round kitchenpot with handles",
+    "Grab the white sauce can brown top, shift it, and place it close to the kitchenpot for boiling and cooking",
+    "Lift the cylindrical can brown round top using the right arm and drop it beside the gray kitchenpot",
+    "Use the right arm to lift the smooth metal sauce can white and place it near the medium kitchenpot made of metal",
+    "Lift the smooth metal sauce can white and set it next to the cylindrical kitchenpot",
+    "Lift the brown top white sauce can and set it beside the gray cylindrical metal kitchenpot",
+    "Lift the metal can with plastic lid and set it next to the kitchenpot for boiling and cooking",
+    "Use the right arm to grab the white sauce can brown top and move it next to the cylindrical kitchenpot",
+    "Grab the metal can with plastic lid, move it to the medium kitchenpot made of metal's side",
+    "Pick up the cylindrical can brown round top with the right arm and set by the gray kitchenpot",
+    "Use the right arm to pick the white label brown lidded can, position it near the gray kitchenpot",
+    "Move the brown-lid sauce can beside the cylindrical kitchenpot after lifting it",
+    "Grab the smooth metal sauce can white with the right arm and position it beside the round kitchenpot with handles",
+    "Lift the white cylindrical sauce holder and move it near the smooth gray kitchenpot",
+    "Pick the metal can with plastic lid up and move it next to the medium kitchenpot made of metal",
+    "Pick the cylindrical container for sauce and position it next to the metal kitchenpot",
+    "Set the brown cap sauce storage can right next to the cooking kitchenpot with side grips",
+    "Take the white sauce can with label with the right arm, place it near the kitchenpot for boiling and cooking",
+    "Use the right arm to grab the white sauce can with label and move it beside the medium-sized kitchenpot",
+    "Use the right arm to take the hand-held sauce container to the metal kitchenpot",
+    "With the right arm, grab the white cylindrical sauce holder and move to the gray cylindrical metal kitchenpot",
+    "Pick the white sauce can with label up with the right arm then place near the medium kitchenpot made of metal",
+    "Place the white cylindrical sauce holder next to the medium-sized kitchenpot",
+    "Grab the white sauce can brown top with the right arm and move it close to the cooking kitchenpot with side grips",
+    "Lift the white cylindrical sauce holder and place it next to the metal kitchenpot",
+    "Grab the brown-lid sauce can and move it close to the kitchenpot with smooth exterior",
+    "Lift the brown top white sauce can, place it by the medium kitchenpot made of metal",
+    "Take the white sauce can with label to the cylindrical kitchenpot using the right arm",
+    "Use the right arm to lift the cylindrical container for sauce and place it next to the gray cylindrical metal kitchenpot",
+    "Use the right arm to move the brown top white sauce can beside the gray kitchenpot",
+    "Pick the brown cap sauce storage can up and carefully position it beside the dark gray stove kitchenpot",
+    "Pick up the white cylindrical sauce holder using the right arm, transfer it beside the dark gray stove kitchenpot",
+    "Use the right arm to lift the hand-held sauce container, then move it next to the gray kitchenpot",
+    "Pick the cylindrical container for sauce with the right arm and relocate it near the medium kitchenpot made of metal",
+    "Set the metal can with plastic lid near the gray cylindrical metal kitchenpot after picking it up",
+    "Use the right arm to grab the brown top white sauce can, move it beside the kitchenpot with smooth exterior",
+    "Move the white sauce can brown top from its spot to near the dark gray stove kitchenpot",
+    "Take the metal can with plastic lid with the right arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Grab the smooth metal sauce can white with the right arm and set it near the gray kitchenpot",
+    "Pick up the smooth metal sauce can white and put it beside the metal kitchenpot",
+    "Place the cylindrical container for sauce beside the round kitchenpot with handles after picking it up",
+    "Use the right arm to pick the metal can with plastic lid up and set it beside the smooth gray kitchenpot",
+    "Use the right arm to grab the white sauce can with label and transfer it near the round kitchenpot with handles",
+    "Grab the brown-lid sauce can, move it, and place by the medium-sized kitchenpot",
+    "Move the cylindrical container for sauce to be next to the gray kitchenpot",
+    "Move the hand-held sauce container to the medium-sized kitchenpot with the right arm",
+    "Bring the white cylindrical sauce holder over and set it near the kitchenpot with smooth exterior"
+  ],
+  "unseen": [
+    "Lift the medium-size cylindrical sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the medium-size cylindrical sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the medium sauce can with white label and place it beside the dark gray cooking kitchenpot",
+    "Use the right arm to grab the medium-size cylindrical sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the medium sauce can with white label and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the medium-size cylindrical sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the medium sauce can with white label and set it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the medium-size cylindrical sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the medium sauce can with white label and place it beside the kitchenpot with two side handles",
+    "Use the right arm to grab the medium-size cylindrical sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the medium-size cylindrical sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the medium sauce can with white label and move it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the medium-size cylindrical sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the medium-size cylindrical sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the kitchenpot with two side handles",
+    "Grab the medium sauce can with white label and place it beside the gray kitchenpot with rounded edges",
+    "Use the right arm to grab the sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the medium sauce can with white label and move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the medium sauce can with white label and place it near the dark gray cooking kitchenpot",
+    "Lift the medium sauce can with white label and set it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the medium sauce can with white label and move it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the medium sauce can with white label and place it beside the kitchenpot with two side handles",
+    "Use the right arm to grab the sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the medium-size cylindrical sauce can and move it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the medium-size cylindrical sauce can and place it beside the kitchenpot with two side handles",
+    "Use the right arm to grab the medium sauce can with white label and place it by the dark gray cooking kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the sauce can and move it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the sauce can, move it near the kitchenpot with two side handles",
+    "Grab the medium-size cylindrical sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the medium-size cylindrical sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can and move it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can and place it beside the kitchenpot with two side handles",
+    "Use the right arm to grab the medium sauce can with white label and place it by the dark gray cooking kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the sauce can and move it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the medium sauce can with white label and place it near the dark gray cooking kitchenpot",
+    "Lift the medium sauce can with white label and set it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the medium sauce can with white label and move it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the medium-size cylindrical sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can and place it beside the kitchenpot with two side handles",
+    "Use the right arm to grab the sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the medium sauce can with white label and set it beside the dark gray cooking kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the sauce can and place it near the gray kitchenpot with rounded edges",
+    "Lift the medium-size cylindrical sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the medium-size cylindrical sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can and place it beside the kitchenpot with two side handles",
+    "Use the right arm to grab the sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the medium sauce can with white label and move it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the sauce can and place it near the kitchenpot with two side handles",
+    "Lift the sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the kitchenpot with two side handles",
+    "Grab the medium sauce can with white label and place it beside the kitchenpot with two side handles",
+    "Use the right arm to grab the medium sauce can with white label and place it by the kitchenpot with two side handles",
+    "Pick up the medium-size cylindrical sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and move it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the sauce can and place it near the dark gray cooking kitchenpot",
+    "Lift the medium-size cylindrical sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the medium-size cylindrical sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the gray kitchenpot with rounded edges",
+    "Grab the medium-size cylindrical sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the right arm to grab the medium-size cylindrical sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the medium sauce can with white label and move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the kitchenpot with two side handles",
+    "Grab the sauce can and place it near the gray kitchenpot with rounded edges"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001026.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the compact sauce can with plastic lid to be next to the black kitchenpot with plastic lid handle",
+    "Using the left arm, lift the cylindrical sauce can and place it by the black metal kitchenpot",
+    "Use the left arm to grab the sauce can with red lid, move it beside the kitchenpot for boiling food",
+    "Set the sauce can with red lid near the black kitchenpot with silver handle bars after picking it up",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the black kitchenpot with silver handle bars",
+    "Take the sturdy sauce can with glossy finish with the left arm, place it near the cooking kitchenpot with sturdy handles",
+    "Grab the small cylindrical sauce can, move it to the black kitchenpot with plastic lid handle's side",
+    "Use the left arm to pick the small cylindrical sauce can up and set it beside the black metal kitchenpot",
+    "Use the left arm to take the sturdy sauce can with glossy finish to the kitchenpot for boiling food",
+    "Lift the sauce can with red lid and place it next to the kitchenpot with metallic round lid",
+    "Grab the small metal sauce container, shift it, and place it close to the black kitchenpot with round lid",
+    "Use the left arm to lift the red can with orange label and place it near the black kitchenpot with plastic lid handle",
+    "Lift the red and orange sauce can and set it next to the kitchenpot with metallic round lid",
+    "Move the sauce can with rounded top cap from its spot to near the black cooking pot with silver handles",
+    "Set the metal body sauce can right next to the black kitchenpot with round lid",
+    "Pick the sauce can with printed design up and move it next to the black kitchenpot with flat lid",
+    "Take the smooth sauce can to the black kitchenpot with plastic lid handle using the left arm",
+    "Take the cylindrical sauce can using the left arm, set it next to the black kitchenpot with silver handle bars",
+    "Use the left arm to grab the sauce can with rounded top cap and move it next to the medium kitchenpot with smooth surface",
+    "Lift the small metal sauce container, place it by the kitchenpot for boiling food",
+    "Use the left arm to move the red and orange sauce can beside the black kitchenpot with round lid",
+    "Pick up the small metal sauce container and put it beside the black kitchenpot with round lid",
+    "Place the small cylindrical sauce can beside the kitchenpot with metallic round lid after picking it up",
+    "Take the sauce can with printed design with the left arm, bring it, and set next to the kitchenpot for boiling food",
+    "Grab the metal body sauce can with the left arm and set it near the black kitchenpot with flat lid",
+    "Lift the sturdy sauce can with glossy finish and set it beside the cooking kitchenpot with sturdy handles",
+    "Use the left arm to grab the red can with orange label and transfer it near the black kitchenpot with round lid",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the black kitchenpot with round lid",
+    "Grab the sauce can with red lid and move it close to the black kitchenpot with silver and black handles",
+    "Pick the small metal sauce container up and carefully position it beside the black kitchenpot with silver handle bars",
+    "Bring the compact sauce can with plastic lid over and set it near the black kitchenpot with flat lid",
+    "Lift the small metal sauce container and set it next to the black metal kitchenpot",
+    "Use the left arm to lift the sturdy sauce can with glossy finish and place it next to the black cooking pot with silver handles",
+    "Grab the small cylindrical sauce can, move it, and place by the black kitchenpot with round lid",
+    "Lift the cylindrical sauce can, then place it next to the medium kitchenpot with smooth surface",
+    "Use the left arm to lift the sauce can with red lid, then move it next to the black kitchenpot with flat lid",
+    "Pick up the metal body sauce can with the left arm and set by the black cooking pot with silver handles",
+    "Use the left arm to grab the sauce can with printed design and move it beside the black kitchenpot with plastic lid handle",
+    "Pick the red can with orange label up with the left arm then place near the medium kitchenpot with smooth surface",
+    "Lift the sauce can with printed design using the left arm and position it by the black kitchenpot with silver and black handles",
+    "Pick the compact sauce can with plastic lid and position it next to the black metal kitchenpot",
+    "Lift the cylindrical sauce can and move it near the black kitchenpot with silver and black handles",
+    "Place the sauce can with printed design next to the black kitchenpot with flat lid",
+    "Pick up the red can with orange label using the left arm, transfer it beside the medium kitchenpot with smooth surface",
+    "Grab the small cylindrical sauce can with the left arm and move it close to the black kitchenpot with silver handle bars",
+    "Move the metal body sauce can to the black cooking pot with silver handles with the left arm",
+    "With the left arm, grab the small cylindrical sauce can and move to the black kitchenpot with silver and black handles",
+    "Move the cylindrical sauce can beside the black kitchenpot with round lid after lifting it",
+    "Use the left arm to pick the sauce can with printed design, position it near the black kitchenpot with silver handle bars",
+    "Grab the sturdy sauce can with glossy finish with the left arm and position it beside the kitchenpot for boiling food",
+    "Move the small metal sauce container to be next to the black cooking pot with silver handles",
+    "Using the left arm, lift the sauce can with rounded top cap and place it by the black kitchenpot with silver and black handles",
+    "Use the left arm to grab the red and orange sauce can, move it beside the black kitchenpot with plastic lid handle",
+    "Set the smooth sauce can near the cooking kitchenpot with sturdy handles after picking it up",
+    "Lift the metal body sauce can using the left arm and drop it beside the black kitchenpot with flat lid",
+    "Take the metal body sauce can with the left arm, place it near the medium kitchenpot with smooth surface",
+    "Grab the small metal sauce container, move it to the black kitchenpot with round lid's side",
+    "Use the left arm to pick the sturdy sauce can with glossy finish up and set it beside the black kitchenpot with plastic lid handle",
+    "Use the left arm to take the smooth sauce can to the kitchenpot for boiling food",
+    "Lift the sauce can with red lid and place it next to the black kitchenpot with plastic lid handle",
+    "Grab the sturdy sauce can with glossy finish, shift it, and place it close to the kitchenpot with metallic round lid",
+    "Use the left arm to lift the metal body sauce can and place it near the black kitchenpot with plastic lid handle",
+    "Lift the compact sauce can with plastic lid and set it next to the black kitchenpot",
+    "Move the sturdy sauce can with glossy finish from its spot to near the black metal kitchenpot",
+    "Set the smooth sauce can right next to the black metal kitchenpot",
+    "Pick the small cylindrical sauce can up and move it next to the black kitchenpot with round lid",
+    "Take the red can with orange label to the black kitchenpot using the left arm",
+    "Take the sauce can with printed design using the left arm, set it next to the black metal kitchenpot",
+    "Use the left arm to grab the red and orange sauce can and move it next to the black kitchenpot",
+    "Lift the sauce can with printed design, place it by the kitchenpot for boiling food",
+    "Use the left arm to move the small metal sauce container beside the black kitchenpot with flat lid",
+    "Pick up the sturdy sauce can with glossy finish and put it beside the black kitchenpot with round lid",
+    "Place the sauce can with red lid beside the kitchenpot with metallic round lid after picking it up",
+    "Take the small cylindrical sauce can with the left arm, bring it, and set next to the black kitchenpot with round lid",
+    "Grab the small metal sauce container with the left arm and set it near the black kitchenpot with plastic lid handle",
+    "Lift the smooth sauce can and set it beside the black kitchenpot with silver handle bars",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the black kitchenpot with silver handle bars",
+    "Pick the red and orange sauce can with the left arm and relocate it near the black metal kitchenpot",
+    "Grab the smooth sauce can and move it close to the black kitchenpot",
+    "Pick the cylindrical sauce can up and carefully position it beside the black kitchenpot with flat lid",
+    "Bring the sturdy sauce can with glossy finish over and set it near the black kitchenpot with round lid",
+    "Lift the small metal sauce container and set it next to the black kitchenpot with flat lid",
+    "Use the left arm to lift the red and orange sauce can and place it next to the black metal kitchenpot",
+    "Grab the metal body sauce can, move it, and place by the black cooking pot with silver handles",
+    "Lift the red and orange sauce can, then place it next to the kitchenpot with metallic round lid",
+    "Use the left arm to lift the sauce can with rounded top cap, then move it next to the medium kitchenpot with smooth surface",
+    "Pick up the compact sauce can with plastic lid with the left arm and set by the medium kitchenpot with smooth surface",
+    "Use the left arm to grab the sauce can with printed design and move it beside the cooking kitchenpot with sturdy handles",
+    "Pick the small cylindrical sauce can up with the left arm then place near the black kitchenpot",
+    "Lift the compact sauce can with plastic lid using the left arm and position it by the medium kitchenpot with smooth surface",
+    "Pick the sturdy sauce can with glossy finish and position it next to the medium kitchenpot with smooth surface",
+    "Lift the sauce can with red lid and move it near the black kitchenpot with silver handle bars",
+    "Place the red can with orange label next to the kitchenpot for boiling food",
+    "Pick up the sauce can with printed design using the left arm, transfer it beside the black kitchenpot with flat lid",
+    "Grab the cylindrical sauce can with the left arm and move it close to the black kitchenpot with round lid",
+    "Move the red can with orange label to the kitchenpot with metallic round lid with the left arm",
+    "With the left arm, grab the sauce can with printed design and move to the black kitchenpot with silver handle bars",
+    "Move the sauce can with printed design beside the black kitchenpot with flat lid after lifting it",
+    "Use the left arm to pick the cylindrical sauce can, position it near the black cooking pot with silver handles",
+    "Grab the red and orange sauce can with the left arm and position it beside the black kitchenpot with flat lid"
+  ],
+  "unseen": [
+    "Grab the red sauce can and move it near the medium black kitchenpot with lid",
+    "Grab the sauce can with round ridged lid and set it beside the medium black kitchenpot with lid",
+    "Use the left arm to grab the red sauce can and place it by the round black kitchenpot",
+    "Use the left arm to pick up the red sauce can, move it near the shiny black kitchenpot",
+    "Pick up the red can with white text and move it near the medium black kitchenpot with lid",
+    "Grab the sauce can with round ridged lid and place it beside the shiny black kitchenpot",
+    "Lift the sauce can with round ridged lid and set it beside the shiny black kitchenpot",
+    "Pick up the sauce can with round ridged lid and set it beside the shiny black kitchenpot",
+    "Grab the sauce can with round ridged lid and place it near the round black kitchenpot",
+    "Use the left arm to pick up the red sauce can and move it beside the round black kitchenpot",
+    "Grab the red sauce can and move it near the round black kitchenpot",
+    "Grab the sauce can with round ridged lid and set it beside the medium black kitchenpot with lid",
+    "Use the left arm to grab the red can with white text and place it by the round black kitchenpot",
+    "Use the left arm to pick up the red sauce can, move it near the medium black kitchenpot with lid",
+    "Pick up the red sauce can and move it near the medium black kitchenpot with lid",
+    "Grab the red can with white text and place it beside the shiny black kitchenpot",
+    "Lift the sauce can with round ridged lid and set it beside the medium black kitchenpot with lid",
+    "Pick up the red sauce can and set it beside the round black kitchenpot",
+    "Grab the red sauce can and place it near the shiny black kitchenpot",
+    "Use the left arm to pick up the red sauce can and move it beside the round black kitchenpot",
+    "Grab the red can with white text and move it near the medium black kitchenpot with lid",
+    "Grab the sauce can with round ridged lid and set it beside the shiny black kitchenpot",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the medium black kitchenpot with lid",
+    "Use the left arm to pick up the red sauce can, move it near the round black kitchenpot",
+    "Pick up the red can with white text and move it near the shiny black kitchenpot",
+    "Grab the red sauce can and place it beside the shiny black kitchenpot",
+    "Lift the red can with white text and set it beside the medium black kitchenpot with lid",
+    "Pick up the sauce can with round ridged lid and set it beside the shiny black kitchenpot",
+    "Grab the red sauce can and place it near the shiny black kitchenpot",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the shiny black kitchenpot",
+    "Grab the red sauce can and move it near the shiny black kitchenpot",
+    "Grab the sauce can with round ridged lid and set it beside the medium black kitchenpot with lid",
+    "Use the left arm to grab the red sauce can and place it by the round black kitchenpot",
+    "Use the left arm to pick up the red sauce can, move it near the medium black kitchenpot with lid",
+    "Pick up the red sauce can and move it near the medium black kitchenpot with lid",
+    "Grab the sauce can with round ridged lid and place it beside the round black kitchenpot",
+    "Lift the red sauce can and set it beside the round black kitchenpot",
+    "Pick up the red can with white text and set it beside the medium black kitchenpot with lid",
+    "Grab the sauce can with round ridged lid and place it near the shiny black kitchenpot",
+    "Use the left arm to pick up the red sauce can and move it beside the round black kitchenpot",
+    "Grab the red sauce can and move it near the medium black kitchenpot with lid",
+    "Grab the sauce can with round ridged lid and set it beside the shiny black kitchenpot",
+    "Use the left arm to grab the red sauce can and place it by the shiny black kitchenpot",
+    "Use the left arm to pick up the red can with white text, move it near the shiny black kitchenpot",
+    "Pick up the red can with white text and move it near the round black kitchenpot",
+    "Grab the sauce can with round ridged lid and place it beside the medium black kitchenpot with lid",
+    "Lift the red sauce can and set it beside the medium black kitchenpot with lid",
+    "Pick up the sauce can with round ridged lid and set it beside the shiny black kitchenpot",
+    "Grab the red can with white text and place it near the shiny black kitchenpot",
+    "Use the left arm to pick up the red sauce can and move it beside the round black kitchenpot",
+    "Grab the red sauce can and move it near the shiny black kitchenpot",
+    "Grab the red sauce can and set it beside the shiny black kitchenpot",
+    "Use the left arm to grab the red sauce can and place it by the round black kitchenpot",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the medium black kitchenpot with lid",
+    "Pick up the sauce can with round ridged lid and move it near the medium black kitchenpot with lid",
+    "Grab the red can with white text and place it beside the shiny black kitchenpot",
+    "Lift the red can with white text and set it beside the shiny black kitchenpot",
+    "Pick up the sauce can with round ridged lid and set it beside the round black kitchenpot",
+    "Grab the sauce can with round ridged lid and place it near the round black kitchenpot",
+    "Use the left arm to pick up the red can with white text and move it beside the shiny black kitchenpot",
+    "Grab the red sauce can and move it near the round black kitchenpot",
+    "Grab the red can with white text and set it beside the medium black kitchenpot with lid",
+    "Use the left arm to grab the red sauce can and place it by the round black kitchenpot",
+    "Use the left arm to pick up the red sauce can, move it near the medium black kitchenpot with lid",
+    "Pick up the red can with white text and move it near the round black kitchenpot",
+    "Grab the red sauce can and place it beside the medium black kitchenpot with lid",
+    "Lift the sauce can with round ridged lid and set it beside the shiny black kitchenpot",
+    "Pick up the sauce can with round ridged lid and set it beside the medium black kitchenpot with lid",
+    "Grab the red can with white text and place it near the medium black kitchenpot with lid",
+    "Use the left arm to pick up the red can with white text and move it beside the medium black kitchenpot with lid",
+    "Grab the red can with white text and move it near the medium black kitchenpot with lid",
+    "Grab the red sauce can and set it beside the round black kitchenpot",
+    "Use the left arm to grab the red can with white text and place it by the round black kitchenpot",
+    "Use the left arm to pick up the red can with white text, move it near the round black kitchenpot",
+    "Pick up the sauce can with round ridged lid and move it near the medium black kitchenpot with lid",
+    "Grab the red sauce can and place it beside the medium black kitchenpot with lid",
+    "Lift the red sauce can and set it beside the medium black kitchenpot with lid",
+    "Pick up the red can with white text and set it beside the shiny black kitchenpot",
+    "Grab the red sauce can and place it near the shiny black kitchenpot",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the medium black kitchenpot with lid",
+    "Grab the red sauce can and move it near the round black kitchenpot",
+    "Grab the red can with white text and set it beside the medium black kitchenpot with lid",
+    "Use the left arm to grab the red sauce can and place it by the shiny black kitchenpot",
+    "Use the left arm to pick up the red can with white text, move it near the medium black kitchenpot with lid",
+    "Pick up the red sauce can and move it near the medium black kitchenpot with lid",
+    "Grab the sauce can with round ridged lid and place it beside the medium black kitchenpot with lid",
+    "Lift the sauce can with round ridged lid and set it beside the medium black kitchenpot with lid",
+    "Pick up the sauce can with round ridged lid and set it beside the shiny black kitchenpot",
+    "Grab the red sauce can and place it near the medium black kitchenpot with lid",
+    "Use the left arm to pick up the red sauce can and move it beside the medium black kitchenpot with lid",
+    "Grab the red can with white text and move it near the round black kitchenpot",
+    "Grab the red sauce can and set it beside the round black kitchenpot",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the medium black kitchenpot with lid",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the shiny black kitchenpot",
+    "Pick up the sauce can with round ridged lid and move it near the shiny black kitchenpot",
+    "Grab the sauce can with round ridged lid and place it beside the shiny black kitchenpot",
+    "Lift the sauce can with round ridged lid and set it beside the shiny black kitchenpot",
+    "Pick up the red sauce can and set it beside the round black kitchenpot",
+    "Grab the sauce can with round ridged lid and place it near the shiny black kitchenpot",
+    "Use the left arm to pick up the red sauce can and move it beside the shiny black kitchenpot"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001029.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the printed label sauce can with the left arm, place it near the dark gray stove kitchenpot",
+    "Lift the sauce can with brown lid and move it near the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with brown lid and position it next to the gray kitchenpot",
+    "Use the left arm to grab the brown sauce can and move it beside the smooth gray kitchenpot",
+    "Lift the metal sauce can using the left arm and position it by the round kitchenpot with handles",
+    "Move the yellow and brown sauce can beside the smooth gray kitchenpot after lifting it",
+    "Pick the sauce can with ingredient information up and carefully position it beside the medium-sized kitchenpot",
+    "Pick up the printed label sauce can with the left arm and set by the medium kitchenpot made of metal",
+    "Grab the sauce can with ingredient information, move it to the dark gray stove kitchenpot's side",
+    "Use the left arm to lift the metal sauce can and place it next to the medium kitchenpot made of metal",
+    "Take the smooth cylindrical sauce can with the left arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Pick up the sauce can with brown lid and put it beside the gray kitchenpot",
+    "Pick the yellow and brown sauce can with the left arm and relocate it near the cylindrical kitchenpot",
+    "Use the left arm to take the sauce can with brown lid to the medium-sized kitchenpot",
+    "Lift the sauce can for condiments and set it beside the cooking kitchenpot with side grips",
+    "Place the smooth cylindrical sauce can next to the medium-sized kitchenpot",
+    "Use the left arm to pick the printed label sauce can up and set it beside the cylindrical kitchenpot",
+    "Move the sauce can with ingredient information from its spot to near the cylindrical kitchenpot",
+    "Lift the yellow and brown sauce can, place it by the cooking kitchenpot with side grips",
+    "Move the sauce can with brown lid to be next to the medium kitchenpot made of metal",
+    "Use the left arm to grab the metal sauce can and move it next to the round kitchenpot with handles",
+    "Grab the sauce can with ingredient information with the left arm and position it beside the gray cylindrical metal kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the dark gray stove kitchenpot",
+    "Lift the brown sauce can and set it next to the dark gray stove kitchenpot",
+    "Grab the cylindrical sauce can, shift it, and place it close to the gray kitchenpot",
+    "Use the left arm to lift the sauce can with brown lid, then move it next to the smooth gray kitchenpot",
+    "Use the left arm to pick the medium sauce can, position it near the round kitchenpot with handles",
+    "Lift the printed label sauce can and place it next to the round kitchenpot with handles",
+    "Using the left arm, lift the brown top sauce can and place it by the cylindrical kitchenpot",
+    "Bring the cylindrical sauce can over and set it near the medium-sized kitchenpot",
+    "Pick the yellow and brown sauce can up with the left arm then place near the kitchenpot with smooth exterior",
+    "Set the brown sauce can near the dark gray stove kitchenpot after picking it up",
+    "Take the yellow label sauce can using the left arm, set it next to the cylindrical kitchenpot",
+    "Lift the brown sauce can, then place it next to the round kitchenpot with handles",
+    "Use the left arm to grab the medium sauce can, move it beside the kitchenpot for boiling and cooking",
+    "Grab the brown top sauce can and move it close to the kitchenpot with smooth exterior",
+    "Grab the brown top sauce can, move it, and place by the cylindrical kitchenpot",
+    "Grab the yellow label sauce can with the left arm and move it close to the kitchenpot for boiling and cooking",
+    "Use the left arm to grab the printed label sauce can and transfer it near the medium kitchenpot made of metal",
+    "Place the metal sauce can beside the round kitchenpot with handles after picking it up",
+    "With the left arm, grab the sauce can for condiments and move to the medium kitchenpot made of metal",
+    "Use the left arm to move the sauce can with brown lid beside the medium kitchenpot made of metal",
+    "Take the sauce can for condiments to the kitchenpot for boiling and cooking using the left arm",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the brown sauce can and place it near the dark gray stove kitchenpot",
+    "Lift the brown top sauce can and set it next to the cylindrical kitchenpot",
+    "Set the sauce can with ingredient information right next to the gray kitchenpot",
+    "Move the yellow and brown sauce can to the metal kitchenpot with the left arm",
+    "Grab the brown top sauce can with the left arm and set it near the smooth gray kitchenpot",
+    "Pick the sauce can with ingredient information up and move it next to the cooking kitchenpot with side grips",
+    "Take the printed label sauce can with the left arm, place it near the smooth gray kitchenpot",
+    "Lift the smooth cylindrical sauce can and move it near the round kitchenpot with handles",
+    "Pick the metal sauce can and position it next to the round kitchenpot with handles",
+    "Use the left arm to grab the smooth cylindrical sauce can and move it beside the cooking kitchenpot with side grips",
+    "Lift the sauce can with ingredient information using the left arm and position it by the metal kitchenpot",
+    "Move the sauce can with brown lid beside the dark gray stove kitchenpot after lifting it",
+    "Pick the sauce can for condiments up and carefully position it beside the round kitchenpot with handles",
+    "Pick up the yellow label sauce can with the left arm and set by the cylindrical kitchenpot",
+    "Grab the sauce can for condiments, move it to the kitchenpot for boiling and cooking's side",
+    "Use the left arm to lift the yellow label sauce can and place it next to the metal kitchenpot",
+    "Take the medium sauce can with the left arm, bring it, and set next to the dark gray stove kitchenpot",
+    "Pick up the sauce can with brown lid and put it beside the medium kitchenpot made of metal",
+    "Pick the yellow and brown sauce can with the left arm and relocate it near the round kitchenpot with handles",
+    "Use the left arm to take the yellow label sauce can to the dark gray stove kitchenpot",
+    "Lift the sauce can with brown lid and set it beside the kitchenpot with smooth exterior",
+    "Place the sauce can for condiments next to the round kitchenpot with handles",
+    "Use the left arm to pick the sauce can with brown lid up and set it beside the kitchenpot with smooth exterior",
+    "Move the yellow label sauce can from its spot to near the cooking kitchenpot with side grips",
+    "Lift the metal sauce can, place it by the dark gray stove kitchenpot",
+    "Move the smooth cylindrical sauce can to be next to the metal kitchenpot",
+    "Use the left arm to grab the smooth cylindrical sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Grab the yellow and brown sauce can with the left arm and position it beside the cylindrical kitchenpot",
+    "Lift the printed label sauce can using the left arm and drop it beside the cooking kitchenpot with side grips",
+    "Lift the medium sauce can and set it next to the round kitchenpot with handles",
+    "Grab the medium sauce can, shift it, and place it close to the gray kitchenpot",
+    "Use the left arm to lift the brown top sauce can, then move it next to the cooking kitchenpot with side grips",
+    "Use the left arm to pick the yellow and brown sauce can, position it near the round kitchenpot with handles",
+    "Lift the brown sauce can and place it next to the cooking kitchenpot with side grips",
+    "Using the left arm, lift the metal sauce can and place it by the medium-sized kitchenpot",
+    "Bring the smooth cylindrical sauce can over and set it near the kitchenpot for boiling and cooking",
+    "Pick the smooth cylindrical sauce can up with the left arm then place near the kitchenpot for boiling and cooking",
+    "Set the cylindrical sauce can near the round kitchenpot with handles after picking it up",
+    "Take the yellow label sauce can using the left arm, set it next to the metal kitchenpot",
+    "Lift the yellow label sauce can, then place it next to the round kitchenpot with handles",
+    "Use the left arm to grab the sauce can with brown lid, move it beside the smooth gray kitchenpot",
+    "Grab the brown sauce can and move it close to the round kitchenpot with handles",
+    "Grab the printed label sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Grab the brown sauce can with the left arm and move it close to the medium-sized kitchenpot",
+    "Use the left arm to grab the sauce can with brown lid and transfer it near the medium kitchenpot made of metal",
+    "Place the sauce can for condiments beside the kitchenpot with smooth exterior after picking it up",
+    "With the left arm, grab the cylindrical sauce can and move to the smooth gray kitchenpot",
+    "Use the left arm to move the metal sauce can beside the kitchenpot for boiling and cooking",
+    "Take the medium sauce can to the gray cylindrical metal kitchenpot using the left arm",
+    "Pick up the brown sauce can using the left arm, transfer it beside the smooth gray kitchenpot",
+    "Use the left arm to lift the cylindrical sauce can and place it near the medium kitchenpot made of metal",
+    "Lift the sauce can for condiments and set it next to the metal kitchenpot",
+    "Set the brown sauce can right next to the round kitchenpot with handles",
+    "Move the printed label sauce can to the smooth gray kitchenpot with the left arm",
+    "Grab the metal sauce can with the left arm and set it near the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with ingredient information up and move it next to the cooking kitchenpot with side grips"
+  ],
+  "unseen": [
+    "Lift the sauce can with smooth surface and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the kitchenpot with two side handles",
+    "Grab the metal body sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the hand-sized sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the metal body sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the metal body sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the metal body sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the metal body sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the sauce can with smooth surface and set it beside the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and place it beside the dark gray cooking kitchenpot",
+    "Pick up the hand-sized sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and place it near the kitchenpot with two side handles",
+    "Grab the metal body sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the dark gray cooking kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the hand-sized sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the metal body sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the hand-sized sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the hand-sized sauce can and move it near the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and place it near the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the kitchenpot with two side handles",
+    "Lift the sauce can with smooth surface and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the metal body sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the hand-sized sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the hand-sized sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the metal body sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the hand-sized sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the metal body sauce can and move it beside the kitchenpot with two side handles",
+    "Lift the hand-sized sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the metal body sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the hand-sized sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the metal body sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and place it near the dark gray cooking kitchenpot",
+    "Grab the metal body sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the gray kitchenpot with rounded edges",
+    "Lift the sauce can with smooth surface and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the metal body sauce can, move it near the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the sauce can with smooth surface and move it near the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and place it near the dark gray cooking kitchenpot",
+    "Grab the hand-sized sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the kitchenpot with two side handles",
+    "Lift the sauce can with smooth surface and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the metal body sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the hand-sized sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the hand-sized sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the metal body sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the sauce can with smooth surface and move it near the kitchenpot with two side handles",
+    "Grab the metal body sauce can and place it near the dark gray cooking kitchenpot",
+    "Grab the hand-sized sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the metal body sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the hand-sized sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the metal body sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and place it beside the kitchenpot with two side handles",
+    "Pick up the metal body sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and place it near the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the sauce can with smooth surface and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the metal body sauce can, move it near the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the dark gray cooking kitchenpot",
+    "Pick up the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the hand-sized sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and place it near the kitchenpot with two side handles",
+    "Grab the metal body sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Lift the metal body sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the sauce can with smooth surface and set it beside the dark gray cooking kitchenpot",
+    "Grab the metal body sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the sauce can with smooth surface and move it near the dark gray cooking kitchenpot",
+    "Grab the metal body sauce can and place it near the gray kitchenpot with rounded edges",
+    "Grab the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the gray kitchenpot with rounded edges"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001034.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the white cylindrical sauce holder to the matte gray pot with durable lid with the left arm",
+    "Use the left arm to grab the white sauce can with label and transfer it near the gray pot with blue circular lid",
+    "Set the brown cap sauce storage can near the gray kitchenpot after picking it up",
+    "Pick the brown top white sauce can up and carefully position it beside the kitchenpot with plastic knob on lid",
+    "Use the left arm to lift the brown cap sauce storage can and place it near the gray kitchenpot",
+    "Pick the cylindrical can brown round top and position it next to the pots for boiling and cooking",
+    "Grab the smooth metal sauce can white with the left arm and position it beside the gray kitchenpot",
+    "Take the metal can with plastic lid to the kitchenpot with plastic knob on lid using the left arm",
+    "Lift the brown cap sauce storage can and set it next to the kitchenpot with plastic knob on lid",
+    "Pick the brown top white sauce can with the left arm and relocate it near the gray pot with blue circular lid",
+    "Lift the cylindrical container for sauce and set it next to the blue-lid kitchenpot",
+    "Pick the white sauce can brown top up and move it next to the metal kitchenpot with brown handles",
+    "Take the smooth metal sauce can white using the left arm, set it next to the kitchenpot with plastic knob on lid",
+    "Pick up the cylindrical can brown round top using the left arm, transfer it beside the gray cylindrical pot",
+    "Use the left arm to lift the cylindrical container for sauce and place it next to the pots for boiling and cooking",
+    "Use the left arm to grab the cylindrical container for sauce, move it beside the gray kitchenpot",
+    "Grab the cylindrical container for sauce, move it, and place by the blue-lid kitchenpot",
+    "Use the left arm to lift the brown top white sauce can, then move it next to the kitchenpot with plastic knob on lid",
+    "Lift the white cylindrical sauce holder and move it near the metal pot with dark handles",
+    "Move the cylindrical container for sauce to be next to the kitchenpot with plastic knob on lid",
+    "Take the white sauce can with label with the left arm, place it near the kitchenpot with plastic knob on lid",
+    "Move the white label brown lidded can beside the kitchenpot with plastic knob on lid after lifting it",
+    "Lift the white label brown lidded can and set it beside the gray kitchenpot",
+    "Grab the metal can with plastic lid with the left arm and move it close to the gray kitchenpot",
+    "With the left arm, grab the white sauce can brown top and move to the gray pot with blue circular lid",
+    "Grab the brown-lid sauce can, shift it, and place it close to the gray kitchenpot",
+    "Use the left arm to move the white label brown lidded can beside the kitchenpot with plastic knob on lid",
+    "Grab the white sauce can brown top and move it close to the metal pot with dark handles",
+    "Using the left arm, lift the cylindrical container for sauce and place it by the round blue-lid kitchenpot for stovetop",
+    "Set the white sauce can brown top right next to the pots for boiling and cooking",
+    "Pick up the hand-held sauce container with the left arm and set by the round blue-lid kitchenpot for stovetop",
+    "Grab the brown top white sauce can with the left arm and set it near the round blue-lid kitchenpot for stovetop",
+    "Use the left arm to pick the white sauce can with label, position it near the cooking pot with two handles",
+    "Place the white sauce can brown top next to the gray cylindrical pot",
+    "Place the hand-held sauce container beside the metal kitchenpot with brown handles after picking it up",
+    "Lift the cylindrical can brown round top using the left arm and position it by the gray pot with blue circular lid",
+    "Pick the white label brown lidded can up with the left arm then place near the metal pot with dark handles",
+    "Use the left arm to grab the white label brown lidded can and move it beside the matte gray pot with durable lid",
+    "Lift the brown top white sauce can using the left arm and drop it beside the cooking pot with two handles",
+    "Use the left arm to take the metal can with plastic lid to the kitchenpot with plastic knob on lid",
+    "Lift the cylindrical container for sauce, then place it next to the pots for boiling and cooking",
+    "Use the left arm to grab the cylindrical container for sauce and move it next to the gray kitchenpot",
+    "Lift the brown cap sauce storage can, place it by the kitchenpot with plastic knob on lid",
+    "Grab the hand-held sauce container, move it to the pots for boiling and cooking's side",
+    "Pick up the brown-lid sauce can and put it beside the metal kitchenpot with brown handles",
+    "Use the left arm to pick the white label brown lidded can up and set it beside the blue kitchenpot lid with black knob",
+    "Lift the hand-held sauce container and place it next to the blue kitchenpot lid with black knob",
+    "Bring the smooth metal sauce can white over and set it near the matte gray pot with durable lid",
+    "Take the smooth metal sauce can white with the left arm, bring it, and set next to the gray pot with blue circular lid",
+    "Move the white label brown lidded can from its spot to near the gray cylindrical pot",
+    "Move the white sauce can brown top to the cooking pot with two handles with the left arm",
+    "Use the left arm to grab the hand-held sauce container and transfer it near the cooking pot with two handles",
+    "Set the brown-lid sauce can near the gray kitchenpot after picking it up",
+    "Pick the white label brown lidded can up and carefully position it beside the metal kitchenpot with brown handles",
+    "Use the left arm to lift the brown top white sauce can and place it near the gray kitchenpot",
+    "Pick the hand-held sauce container and position it next to the gray kitchenpot",
+    "Grab the cylindrical container for sauce with the left arm and position it beside the blue kitchenpot lid with black knob",
+    "Take the cylindrical container for sauce to the gray kitchenpot using the left arm",
+    "Lift the white sauce can brown top and set it next to the metal pot with dark handles",
+    "Pick the brown-lid sauce can with the left arm and relocate it near the cooking pot with two handles",
+    "Lift the smooth metal sauce can white and set it next to the cooking pot with two handles",
+    "Pick the cylindrical container for sauce up and move it next to the round blue-lid kitchenpot for stovetop",
+    "Take the cylindrical can brown round top using the left arm, set it next to the metal kitchenpot with brown handles",
+    "Pick up the brown cap sauce storage can using the left arm, transfer it beside the gray kitchenpot",
+    "Use the left arm to lift the hand-held sauce container and place it next to the gray kitchenpot",
+    "Use the left arm to grab the brown cap sauce storage can, move it beside the blue-lid kitchenpot",
+    "Grab the brown-lid sauce can, move it, and place by the gray pot with blue circular lid",
+    "Use the left arm to lift the cylindrical container for sauce, then move it next to the metal pot with dark handles",
+    "Lift the smooth metal sauce can white and move it near the metal kitchenpot with brown handles",
+    "Move the white sauce can brown top to be next to the kitchenpot with plastic knob on lid",
+    "Take the white cylindrical sauce holder with the left arm, place it near the pots for boiling and cooking",
+    "Move the white sauce can brown top beside the matte gray pot with durable lid after lifting it",
+    "Lift the metal can with plastic lid and set it beside the cooking pot with two handles",
+    "Grab the white cylindrical sauce holder with the left arm and move it close to the metal pot with dark handles",
+    "With the left arm, grab the hand-held sauce container and move to the blue kitchenpot lid with black knob",
+    "Grab the white label brown lidded can, shift it, and place it close to the matte gray pot with durable lid",
+    "Use the left arm to move the brown top white sauce can beside the blue-lid kitchenpot",
+    "Grab the cylindrical can brown round top and move it close to the round blue-lid kitchenpot for stovetop",
+    "Using the left arm, lift the cylindrical container for sauce and place it by the metal kitchenpot with brown handles",
+    "Set the hand-held sauce container right next to the gray cylindrical pot",
+    "Pick up the brown top white sauce can with the left arm and set by the pots for boiling and cooking",
+    "Grab the brown cap sauce storage can with the left arm and set it near the gray pot with blue circular lid",
+    "Use the left arm to pick the white sauce can brown top, position it near the gray kitchenpot",
+    "Place the cylindrical container for sauce next to the gray cylindrical pot",
+    "Place the cylindrical can brown round top beside the metal pot with dark handles after picking it up",
+    "Lift the hand-held sauce container using the left arm and position it by the gray cylindrical pot",
+    "Pick the metal can with plastic lid up with the left arm then place near the blue kitchenpot lid with black knob",
+    "Use the left arm to grab the hand-held sauce container and move it beside the gray pot with blue circular lid",
+    "Lift the white sauce can with label using the left arm and drop it beside the cooking pot with two handles",
+    "Use the left arm to take the white label brown lidded can to the gray cylindrical pot",
+    "Lift the white label brown lidded can, then place it next to the gray cylindrical pot",
+    "Use the left arm to grab the brown top white sauce can and move it next to the pots for boiling and cooking",
+    "Lift the cylindrical can brown round top, place it by the metal kitchenpot with brown handles",
+    "Grab the white label brown lidded can, move it to the round blue-lid kitchenpot for stovetop's side",
+    "Pick up the white cylindrical sauce holder and put it beside the matte gray pot with durable lid",
+    "Use the left arm to pick the hand-held sauce container up and set it beside the pots for boiling and cooking",
+    "Lift the hand-held sauce container and place it next to the blue-lid kitchenpot",
+    "Bring the smooth metal sauce can white over and set it near the gray pot with blue circular lid",
+    "Take the brown-lid sauce can with the left arm, bring it, and set next to the blue-lid kitchenpot",
+    "Move the brown top white sauce can from its spot to near the pots for boiling and cooking"
+  ],
+  "unseen": [
+    "Grab the medium sauce can with white label and set it beside the medium stove pot",
+    "Use the left arm to grab the medium sauce can with white label and place it by the round pot with blue top",
+    "Grab the sauce can and place it beside the medium stove pot",
+    "Grab the medium sauce can with white label and move it near the round pot with blue top",
+    "Lift the sauce can and set it beside the kitchenpot with smooth matte body",
+    "Pick up the sauce can and set it beside the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the medium sauce can with white label and move it beside the round pot with blue top",
+    "Grab the sauce can and place it near the kitchenpot with smooth matte body",
+    "Pick up the medium-size cylindrical sauce can and move it near the kitchenpot with smooth matte body",
+    "Grab the medium-size cylindrical sauce can and set it beside the kitchenpot with smooth matte body",
+    "Use the left arm to grab the medium sauce can with white label and place it by the round pot with blue top",
+    "Grab the sauce can and place it beside the medium stove pot",
+    "Grab the medium sauce can with white label and move it near the medium stove pot",
+    "Lift the sauce can and set it beside the round pot with blue top",
+    "Pick up the sauce can and set it beside the round pot with blue top",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the medium stove pot",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the round pot with blue top",
+    "Grab the sauce can and place it near the medium stove pot",
+    "Pick up the medium sauce can with white label and move it near the kitchenpot with smooth matte body",
+    "Grab the medium sauce can with white label and set it beside the kitchenpot with smooth matte body",
+    "Use the left arm to grab the medium sauce can with white label and place it by the kitchenpot with smooth matte body",
+    "Grab the medium-size cylindrical sauce can and place it beside the medium stove pot",
+    "Grab the medium sauce can with white label and move it near the kitchenpot with smooth matte body",
+    "Lift the medium-size cylindrical sauce can and set it beside the medium stove pot",
+    "Pick up the medium-size cylindrical sauce can and set it beside the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the medium stove pot",
+    "Grab the sauce can and place it near the medium stove pot",
+    "Pick up the medium sauce can with white label and move it near the kitchenpot with smooth matte body",
+    "Grab the medium-size cylindrical sauce can and set it beside the round pot with blue top",
+    "Use the left arm to grab the medium sauce can with white label and place it by the round pot with blue top",
+    "Grab the medium sauce can with white label and place it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can and move it near the medium stove pot",
+    "Lift the sauce can and set it beside the medium stove pot",
+    "Pick up the sauce can and set it beside the medium stove pot",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the medium stove pot",
+    "Use the left arm to pick up the sauce can and move it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can and place it near the kitchenpot with smooth matte body",
+    "Pick up the medium sauce can with white label and move it near the medium stove pot",
+    "Grab the medium sauce can with white label and set it beside the medium stove pot",
+    "Use the left arm to grab the medium-size cylindrical sauce can and place it by the medium stove pot",
+    "Grab the medium sauce can with white label and place it beside the kitchenpot with smooth matte body",
+    "Grab the medium-size cylindrical sauce can and move it near the round pot with blue top",
+    "Lift the medium-size cylindrical sauce can and set it beside the round pot with blue top",
+    "Pick up the sauce can and set it beside the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the medium sauce can with white label and move it beside the round pot with blue top",
+    "Grab the sauce can and place it near the round pot with blue top",
+    "Pick up the medium sauce can with white label and move it near the kitchenpot with smooth matte body",
+    "Grab the medium-size cylindrical sauce can and set it beside the kitchenpot with smooth matte body",
+    "Use the left arm to grab the medium-size cylindrical sauce can and place it by the round pot with blue top",
+    "Grab the medium-size cylindrical sauce can and place it beside the medium stove pot",
+    "Grab the sauce can and move it near the kitchenpot with smooth matte body",
+    "Lift the medium-size cylindrical sauce can and set it beside the kitchenpot with smooth matte body",
+    "Pick up the sauce can and set it beside the round pot with blue top",
+    "Use the left arm to pick up the sauce can, move it near the round pot with blue top",
+    "Use the left arm to pick up the sauce can and move it beside the round pot with blue top",
+    "Grab the medium sauce can with white label and place it near the medium stove pot",
+    "Pick up the sauce can and move it near the kitchenpot with smooth matte body",
+    "Grab the sauce can and set it beside the medium stove pot",
+    "Use the left arm to grab the medium sauce can with white label and place it by the medium stove pot",
+    "Grab the sauce can and place it beside the medium stove pot",
+    "Grab the sauce can and move it near the medium stove pot",
+    "Lift the medium sauce can with white label and set it beside the kitchenpot with smooth matte body",
+    "Pick up the medium sauce can with white label and set it beside the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the round pot with blue top",
+    "Use the left arm to pick up the medium sauce can with white label and move it beside the round pot with blue top",
+    "Grab the medium sauce can with white label and place it near the round pot with blue top",
+    "Pick up the medium sauce can with white label and move it near the medium stove pot",
+    "Grab the medium sauce can with white label and set it beside the medium stove pot",
+    "Use the left arm to grab the medium sauce can with white label and place it by the round pot with blue top",
+    "Grab the medium sauce can with white label and place it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can and move it near the round pot with blue top",
+    "Lift the medium sauce can with white label and set it beside the kitchenpot with smooth matte body",
+    "Pick up the medium-size cylindrical sauce can and set it beside the round pot with blue top",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the medium stove pot",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the round pot with blue top",
+    "Grab the medium-size cylindrical sauce can and place it near the kitchenpot with smooth matte body",
+    "Pick up the sauce can and move it near the kitchenpot with smooth matte body",
+    "Grab the medium sauce can with white label and set it beside the round pot with blue top",
+    "Use the left arm to grab the medium-size cylindrical sauce can and place it by the medium stove pot",
+    "Grab the medium sauce can with white label and place it beside the medium stove pot",
+    "Grab the sauce can and move it near the kitchenpot with smooth matte body",
+    "Lift the medium-size cylindrical sauce can and set it beside the kitchenpot with smooth matte body",
+    "Pick up the medium sauce can with white label and set it beside the medium stove pot",
+    "Use the left arm to pick up the sauce can, move it near the round pot with blue top",
+    "Use the left arm to pick up the medium sauce can with white label and move it beside the kitchenpot with smooth matte body",
+    "Grab the medium sauce can with white label and place it near the kitchenpot with smooth matte body",
+    "Pick up the sauce can and move it near the medium stove pot",
+    "Grab the medium-size cylindrical sauce can and set it beside the round pot with blue top",
+    "Use the left arm to grab the medium-size cylindrical sauce can and place it by the medium stove pot",
+    "Grab the medium sauce can with white label and place it beside the medium stove pot",
+    "Grab the sauce can and move it near the medium stove pot",
+    "Lift the medium sauce can with white label and set it beside the medium stove pot",
+    "Pick up the sauce can and set it beside the round pot with blue top",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the round pot with blue top",
+    "Use the left arm to pick up the medium sauce can with white label and move it beside the kitchenpot with smooth matte body",
+    "Grab the medium sauce can with white label and place it near the medium stove pot",
+    "Pick up the sauce can and move it near the medium stove pot"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001037.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the left arm, lift the sauce can and place it by the gray cylindrical pot",
+    "Move the sauce can from its spot to near the cooking pot with two handles",
+    "Use the left arm to lift the cylindrical sauce can and place it near the gray cylindrical pot",
+    "Place the round sauce can with yellow pattern next to the pots for boiling and cooking",
+    "Set the sauce can with sealed top right next to the metal kitchenpot with brown handles",
+    "Grab the medium sauce can with white lid with the left arm and position it beside the pots for boiling and cooking",
+    "Lift the brown and yellow cylindrical sauce can and move it near the metal pot with dark handles",
+    "Take the white plastic lid sauce can using the left arm, set it next to the blue kitchenpot lid with black knob",
+    "With the left arm, grab the white plastic lid sauce can and move to the metal pot with dark handles",
+    "Use the left arm to pick the sauce can up and set it beside the gray pot with blue circular lid",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the pots for boiling and cooking",
+    "Pick the medium sauce can with white lid up with the left arm then place near the pots for boiling and cooking",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the gray cylindrical pot",
+    "Pick up the medium sauce can with white lid and put it beside the pots for boiling and cooking",
+    "Lift the yellow brown sauce can and set it next to the cooking pot with two handles",
+    "Take the brown and yellow cylindrical sauce can to the gray kitchenpot using the left arm",
+    "Grab the cylindrical sauce can and move it close to the gray cylindrical pot",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the pots for boiling and cooking",
+    "Use the left arm to move the sauce can beside the pots for boiling and cooking",
+    "Set the sauce can near the gray cylindrical pot after picking it up",
+    "Lift the rounded-edge sauce can, place it by the gray kitchenpot",
+    "Pick the sauce can with the left arm and relocate it near the blue-lid kitchenpot",
+    "Move the brown and yellow cylindrical sauce can to be next to the kitchenpot with plastic knob on lid",
+    "Lift the rounded-edge sauce can and set it beside the metal kitchenpot with brown handles",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the round blue-lid kitchenpot for stovetop",
+    "Grab the yellow brown sauce can with the left arm and move it close to the gray kitchenpot",
+    "Grab the sauce can with glossy finish with the left arm and set it near the pots for boiling and cooking",
+    "Lift the hand-sized sauce can, then place it next to the blue-lid kitchenpot",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the cooking pot with two handles",
+    "Lift the round sauce can with yellow pattern using the left arm and drop it beside the metal kitchenpot with brown handles",
+    "Use the left arm to pick the yellow brown sauce can, position it near the blue kitchenpot lid with black knob",
+    "Lift the yellow brown sauce can and set it next to the round blue-lid kitchenpot for stovetop",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the kitchenpot with plastic knob on lid",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the round blue-lid kitchenpot for stovetop",
+    "Pick the medium sauce can with white lid up and move it next to the gray pot with blue circular lid",
+    "Grab the medium sauce can with white lid, move it, and place by the metal kitchenpot with brown handles",
+    "Move the medium sauce can with white lid beside the blue kitchenpot lid with black knob after lifting it",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the blue-lid kitchenpot",
+    "Take the yellow brown sauce can with the left arm, place it near the gray cylindrical pot",
+    "Move the sauce can to the pots for boiling and cooking with the left arm",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the gray kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can with the left arm and set by the blue-lid kitchenpot",
+    "Grab the round sauce can with yellow pattern, move it to the blue kitchenpot lid with black knob's side",
+    "Lift the cylindrical sauce can and place it next to the gray pot with blue circular lid",
+    "Lift the hand-sized sauce can using the left arm and position it by the matte gray pot with durable lid",
+    "Place the hand-sized sauce can beside the blue-lid kitchenpot after picking it up",
+    "Use the left arm to grab the plastic lid sauce can and move it next to the gray kitchenpot",
+    "Pick the cylindrical sauce can and position it next to the round blue-lid kitchenpot for stovetop",
+    "Pick the sauce can with glossy finish up and carefully position it beside the blue kitchenpot lid with black knob",
+    "Use the left arm to take the round sauce can with yellow pattern to the gray cylindrical pot",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the metal kitchenpot with brown handles",
+    "Move the medium sauce can with white lid from its spot to near the metal pot with dark handles",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it near the cooking pot with two handles",
+    "Place the sauce can with glossy finish next to the metal kitchenpot with brown handles",
+    "Set the yellow brown sauce can right next to the kitchenpot with plastic knob on lid",
+    "Grab the sauce can with the left arm and position it beside the cooking pot with two handles",
+    "Lift the hand-sized sauce can and move it near the blue kitchenpot lid with black knob",
+    "Take the yellow brown sauce can using the left arm, set it next to the gray kitchenpot",
+    "With the left arm, grab the sauce can and move to the metal kitchenpot with brown handles",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the pots for boiling and cooking",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the gray cylindrical pot",
+    "Pick the hand-sized sauce can up with the left arm then place near the metal pot with dark handles",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the metal kitchenpot with brown handles",
+    "Pick up the plastic lid sauce can and put it beside the pots for boiling and cooking",
+    "Lift the white plastic lid sauce can and set it next to the gray pot with blue circular lid",
+    "Take the plastic lid sauce can to the pots for boiling and cooking using the left arm",
+    "Grab the round sauce can with yellow pattern and move it close to the metal pot with dark handles",
+    "Bring the yellow brown sauce can over and set it near the gray kitchenpot",
+    "Use the left arm to move the hand-sized sauce can beside the cooking pot with two handles",
+    "Set the yellow brown sauce can near the metal kitchenpot with brown handles after picking it up",
+    "Lift the cylindrical sauce can, place it by the metal pot with dark handles",
+    "Pick the plastic lid sauce can with the left arm and relocate it near the cooking pot with two handles",
+    "Move the white plastic lid sauce can to be next to the gray kitchenpot",
+    "Lift the white plastic lid sauce can and set it beside the metal kitchenpot with brown handles",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the blue-lid kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the gray pot with blue circular lid",
+    "Grab the yellow brown sauce can with the left arm and set it near the matte gray pot with durable lid",
+    "Lift the medium sauce can with white lid, then place it next to the gray cylindrical pot",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the blue kitchenpot lid with black knob",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the metal pot with dark handles",
+    "Use the left arm to pick the sauce can with sealed top, position it near the blue-lid kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the round blue-lid kitchenpot for stovetop",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the metal pot with dark handles",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the gray kitchenpot",
+    "Pick the yellow brown sauce can up and move it next to the metal pot with dark handles",
+    "Grab the sauce can, move it, and place by the metal kitchenpot with brown handles",
+    "Move the brown and yellow cylindrical sauce can beside the gray pot with blue circular lid after lifting it",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the kitchenpot with plastic knob on lid",
+    "Take the sauce can with sealed top with the left arm, place it near the pots for boiling and cooking",
+    "Move the white plastic lid sauce can to the blue kitchenpot lid with black knob with the left arm",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the metal pot with dark handles",
+    "Pick up the yellow brown sauce can with the left arm and set by the matte gray pot with durable lid",
+    "Grab the sauce can with sealed top, move it to the pots for boiling and cooking's side",
+    "Lift the sauce can with sealed top and place it next to the kitchenpot with plastic knob on lid",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the gray cylindrical pot",
+    "Place the hand-sized sauce can beside the gray kitchenpot after picking it up",
+    "Use the left arm to grab the round sauce can with yellow pattern and move it next to the cooking pot with two handles",
+    "Pick the round sauce can with yellow pattern and position it next to the gray pot with blue circular lid",
+    "Pick the rounded-edge sauce can up and carefully position it beside the matte gray pot with durable lid",
+    "Use the left arm to take the yellow brown sauce can to the round blue-lid kitchenpot for stovetop"
+  ],
+  "unseen": [
+    "Pick up the smooth sauce can and move it near the kitchenpot with smooth matte body",
+    "Lift the yellow label on sauce can and set it beside the medium stove pot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the round pot with blue top",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with smooth matte body",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with smooth matte body",
+    "Pick up the smooth sauce can and set it beside the medium stove pot",
+    "Grab the brown sauce can with top lid and place it beside the medium stove pot",
+    "Grab the yellow label on sauce can and move it near the round pot with blue top",
+    "Use the left arm to pick up the smooth sauce can and move it beside the medium stove pot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with smooth matte body",
+    "Pick up the smooth sauce can and move it near the kitchenpot with smooth matte body",
+    "Lift the yellow label on sauce can and set it beside the medium stove pot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the medium stove pot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the round pot with blue top",
+    "Grab the yellow label on sauce can and set it beside the round pot with blue top",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with smooth matte body",
+    "Grab the yellow label on sauce can and move it near the round pot with blue top",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with smooth matte body",
+    "Grab the yellow label on sauce can and place it near the medium stove pot",
+    "Pick up the brown sauce can with top lid and move it near the round pot with blue top",
+    "Lift the yellow label on sauce can and set it beside the round pot with blue top",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the medium stove pot",
+    "Grab the brown sauce can with top lid and set it beside the medium stove pot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the yellow label on sauce can and place it beside the round pot with blue top",
+    "Grab the smooth sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the medium stove pot",
+    "Grab the brown sauce can with top lid and place it near the round pot with blue top",
+    "Pick up the yellow label on sauce can and move it near the round pot with blue top",
+    "Lift the brown sauce can with top lid and set it beside the medium stove pot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the medium stove pot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with smooth matte body",
+    "Grab the yellow label on sauce can and set it beside the round pot with blue top",
+    "Pick up the smooth sauce can and set it beside the round pot with blue top",
+    "Grab the smooth sauce can and place it beside the round pot with blue top",
+    "Grab the smooth sauce can and move it near the medium stove pot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the medium stove pot",
+    "Grab the brown sauce can with top lid and place it near the medium stove pot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with smooth matte body",
+    "Lift the brown sauce can with top lid and set it beside the round pot with blue top",
+    "Use the left arm to pick up the smooth sauce can, move it near the round pot with blue top",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with smooth matte body",
+    "Grab the smooth sauce can and set it beside the kitchenpot with smooth matte body",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with smooth matte body",
+    "Grab the smooth sauce can and place it beside the round pot with blue top",
+    "Grab the yellow label on sauce can and move it near the medium stove pot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot with smooth matte body",
+    "Grab the brown sauce can with top lid and place it near the medium stove pot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with smooth matte body",
+    "Lift the brown sauce can with top lid and set it beside the medium stove pot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with smooth matte body",
+    "Grab the smooth sauce can and set it beside the round pot with blue top",
+    "Pick up the smooth sauce can and set it beside the round pot with blue top",
+    "Grab the smooth sauce can and place it beside the round pot with blue top",
+    "Grab the smooth sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the round pot with blue top",
+    "Grab the brown sauce can with top lid and place it near the round pot with blue top",
+    "Pick up the smooth sauce can and move it near the medium stove pot",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the round pot with blue top",
+    "Use the left arm to grab the yellow label on sauce can and place it by the medium stove pot",
+    "Grab the yellow label on sauce can and set it beside the medium stove pot",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the yellow label on sauce can and place it beside the round pot with blue top",
+    "Grab the brown sauce can with top lid and move it near the medium stove pot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with smooth matte body",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with smooth matte body",
+    "Pick up the yellow label on sauce can and move it near the round pot with blue top",
+    "Lift the yellow label on sauce can and set it beside the round pot with blue top",
+    "Use the left arm to pick up the smooth sauce can, move it near the round pot with blue top",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with smooth matte body",
+    "Grab the brown sauce can with top lid and set it beside the medium stove pot",
+    "Pick up the yellow label on sauce can and set it beside the medium stove pot",
+    "Grab the yellow label on sauce can and place it beside the round pot with blue top",
+    "Grab the brown sauce can with top lid and move it near the round pot with blue top",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the medium stove pot",
+    "Grab the smooth sauce can and place it near the round pot with blue top",
+    "Pick up the brown sauce can with top lid and move it near the medium stove pot",
+    "Lift the smooth sauce can and set it beside the medium stove pot",
+    "Use the left arm to pick up the smooth sauce can, move it near the medium stove pot",
+    "Use the left arm to grab the smooth sauce can and place it by the round pot with blue top",
+    "Grab the yellow label on sauce can and set it beside the round pot with blue top",
+    "Pick up the brown sauce can with top lid and set it beside the round pot with blue top",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with smooth matte body",
+    "Grab the smooth sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the smooth sauce can and move it beside the round pot with blue top",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with smooth matte body",
+    "Pick up the yellow label on sauce can and move it near the round pot with blue top",
+    "Lift the smooth sauce can and set it beside the round pot with blue top",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to grab the yellow label on sauce can and place it by the round pot with blue top",
+    "Grab the brown sauce can with top lid and set it beside the round pot with blue top",
+    "Pick up the brown sauce can with top lid and set it beside the round pot with blue top",
+    "Grab the yellow label on sauce can and place it beside the medium stove pot",
+    "Grab the brown sauce can with top lid and move it near the medium stove pot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the round pot with blue top",
+    "Grab the yellow label on sauce can and place it near the round pot with blue top"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001039.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the medium sauce can with white lid with the right arm and set by the round teal cooking pot with matte texture",
+    "Lift the yellow brown sauce can, place it by the medium teal blue kitchenpot with handles",
+    "Lift the cylindrical sauce can using the right arm and position it by the smooth teal kitchenpot for stovetop use",
+    "Take the sauce can with the right arm, place it near the medium-sized teal blue cooking pot",
+    "Pick the round sauce can with yellow pattern with the right arm and relocate it near the round teal cooking pot with matte texture",
+    "With the right arm, grab the sauce can and move to the blue kitchenpot with smooth matte sides",
+    "Use the right arm to pick the sauce can up and set it beside the medium teal-colored pot with flat lid",
+    "Use the right arm to grab the sauce can with glossy finish and move it beside the kitchenpot with two sturdy blue handles",
+    "Use the right arm to lift the hand-sized sauce can, then move it next to the smooth teal kitchenpot for stovetop use",
+    "Grab the sauce can and move it close to the blue kitchenpot with smooth matte sides",
+    "Take the sauce can with the right arm, bring it, and set next to the kitchenpot with flat lid and knob",
+    "Place the sauce can with glossy finish beside the medium teal blue kitchenpot with handles after picking it up",
+    "Bring the sauce can with glossy finish over and set it near the medium-sized teal blue cooking pot",
+    "Use the right arm to grab the hand-sized sauce can and transfer it near the round kitchenpot with two side grips",
+    "Set the sauce can right next to the teal pot for boiling and cooking",
+    "Take the sauce can with glossy finish to the medium-sized teal blue cooking pot using the right arm",
+    "Use the right arm to grab the white plastic lid sauce can and move it next to the round teal cooking pot with matte texture",
+    "Pick up the yellow brown sauce can and put it beside the round teal cooking pot with matte texture",
+    "Grab the hand-sized sauce can with the right arm and position it beside the blue kitchenpot with smooth matte sides",
+    "Grab the white plastic lid sauce can with the right arm and set it near the cooking pot with two blue handles",
+    "Lift the sauce can and set it next to the cooking pot with two blue handles",
+    "Pick the round sauce can with yellow pattern up with the right arm then place near the kitchenpot with flat lid and knob",
+    "Lift the hand-sized sauce can using the right arm and drop it beside the smooth teal kitchenpot for stovetop use",
+    "Grab the white plastic lid sauce can, shift it, and place it close to the medium-sized teal blue cooking pot",
+    "Grab the brown and yellow cylindrical sauce can, move it to the cooking pot with two blue handles's side",
+    "Use the right arm to pick the white plastic lid sauce can, position it near the round teal cooking pot with matte texture",
+    "Use the right arm to take the sauce can with sealed top to the medium teal blue kitchenpot with handles",
+    "Pick the hand-sized sauce can and position it next to the medium teal blue kitchenpot with handles",
+    "Move the rounded-edge sauce can from its spot to near the medium-sized teal blue cooking pot",
+    "Grab the sauce can with sealed top, move it, and place by the cooking pot with two blue handles",
+    "Lift the sauce can and set it next to the blue cylinder pot with smooth lid",
+    "Use the right arm to lift the plastic lid sauce can and place it near the blue kitchenpot with smooth matte sides",
+    "Use the right arm to grab the yellow brown sauce can, move it beside the smooth teal kitchenpot for stovetop use",
+    "Lift the brown and yellow cylindrical sauce can and set it beside the medium-sized teal blue cooking pot",
+    "Pick the brown and yellow cylindrical sauce can up and move it next to the cooking pot with two blue handles",
+    "Lift the medium sauce can with white lid and place it next to the teal pot for boiling and cooking",
+    "Pick up the white plastic lid sauce can using the right arm, transfer it beside the blue cylinder pot with smooth lid",
+    "Place the rounded-edge sauce can next to the kitchenpot with flat lid and knob",
+    "Grab the sauce can with the right arm and move it close to the blue cylinder pot with smooth lid",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the blue cylinder pot with smooth lid",
+    "Use the right arm to move the white plastic lid sauce can beside the blue kitchenpot with smooth matte sides",
+    "Move the plastic lid sauce can to be next to the cooking pot with two blue handles",
+    "Move the medium sauce can with white lid beside the kitchenpot with flat lid and knob after lifting it",
+    "Take the white plastic lid sauce can using the right arm, set it next to the teal pot for boiling and cooking",
+    "Lift the sauce can, then place it next to the kitchenpot with two sturdy blue handles",
+    "Set the hand-sized sauce can near the kitchenpot with two sturdy blue handles after picking it up",
+    "Use the right arm to lift the sauce can with sealed top and place it next to the kitchenpot with two sturdy blue handles",
+    "Lift the cylindrical sauce can and move it near the teal pot for boiling and cooking",
+    "Move the brown and yellow cylindrical sauce can to the medium-sized teal blue cooking pot with the right arm",
+    "Using the right arm, lift the yellow brown sauce can and place it by the cooking pot with two blue handles",
+    "Pick up the yellow brown sauce can with the right arm and set by the round teal cooking pot with matte texture",
+    "Lift the brown and yellow cylindrical sauce can, place it by the cooking pot with two blue handles",
+    "Lift the medium sauce can with white lid using the right arm and position it by the kitchenpot with flat lid and knob",
+    "Take the brown and yellow cylindrical sauce can with the right arm, place it near the smooth teal kitchenpot for stovetop use",
+    "Pick the white plastic lid sauce can with the right arm and relocate it near the cooking pot with two blue handles",
+    "With the right arm, grab the cylindrical sauce can and move to the blue cylinder pot with smooth lid",
+    "Use the right arm to pick the plastic lid sauce can up and set it beside the blue kitchenpot with smooth matte sides",
+    "Use the right arm to grab the brown and yellow cylindrical sauce can and move it beside the smooth teal kitchenpot for stovetop use",
+    "Use the right arm to lift the sauce can with glossy finish, then move it next to the smooth teal kitchenpot for stovetop use",
+    "Grab the white plastic lid sauce can and move it close to the round teal cooking pot with matte texture",
+    "Take the white plastic lid sauce can with the right arm, bring it, and set next to the blue kitchenpot with smooth matte sides",
+    "Place the sauce can beside the round teal cooking pot with matte texture after picking it up",
+    "Bring the white plastic lid sauce can over and set it near the blue kitchenpot with smooth matte sides",
+    "Use the right arm to grab the round sauce can with yellow pattern and transfer it near the medium teal blue kitchenpot with handles",
+    "Set the sauce can with glossy finish right next to the kitchenpot with flat lid and knob",
+    "Take the round sauce can with yellow pattern to the teal pot for boiling and cooking using the right arm",
+    "Use the right arm to grab the sauce can with sealed top and move it next to the medium teal blue kitchenpot with handles",
+    "Pick up the medium sauce can with white lid and put it beside the round kitchenpot with two side grips",
+    "Grab the sauce can with glossy finish with the right arm and position it beside the blue cylinder pot with smooth lid",
+    "Grab the hand-sized sauce can with the right arm and set it near the round teal cooking pot with matte texture",
+    "Lift the yellow brown sauce can and set it next to the cooking pot with two blue handles",
+    "Pick the brown and yellow cylindrical sauce can up with the right arm then place near the teal pot for boiling and cooking",
+    "Lift the medium sauce can with white lid using the right arm and drop it beside the teal pot for boiling and cooking",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the medium-sized teal blue cooking pot",
+    "Grab the round sauce can with yellow pattern, move it to the cooking pot with two blue handles's side",
+    "Use the right arm to pick the white plastic lid sauce can, position it near the cooking pot with two blue handles",
+    "Use the right arm to take the yellow brown sauce can to the round kitchenpot with two side grips",
+    "Pick the sauce can and position it next to the medium-sized teal blue cooking pot",
+    "Move the medium sauce can with white lid from its spot to near the teal pot for boiling and cooking",
+    "Grab the hand-sized sauce can, move it, and place by the blue cylinder pot with smooth lid",
+    "Lift the rounded-edge sauce can and set it next to the kitchenpot with flat lid and knob",
+    "Use the right arm to lift the cylindrical sauce can and place it near the kitchenpot with flat lid and knob",
+    "Use the right arm to grab the plastic lid sauce can, move it beside the cooking pot with two blue handles",
+    "Lift the yellow brown sauce can and set it beside the teal pot for boiling and cooking",
+    "Pick the white plastic lid sauce can up and move it next to the kitchenpot with two sturdy blue handles",
+    "Lift the sauce can with sealed top and place it next to the cooking pot with two blue handles",
+    "Pick up the medium sauce can with white lid using the right arm, transfer it beside the kitchenpot with flat lid and knob",
+    "Place the round sauce can with yellow pattern next to the round kitchenpot with two side grips",
+    "Grab the sauce can with glossy finish with the right arm and move it close to the medium teal-colored pot with flat lid",
+    "Pick the sauce can with glossy finish up and carefully position it beside the blue kitchenpot with smooth matte sides",
+    "Use the right arm to move the medium sauce can with white lid beside the blue kitchenpot with smooth matte sides",
+    "Move the rounded-edge sauce can to be next to the medium teal blue kitchenpot with handles",
+    "Move the medium sauce can with white lid beside the smooth teal kitchenpot for stovetop use after lifting it",
+    "Take the rounded-edge sauce can using the right arm, set it next to the smooth teal kitchenpot for stovetop use",
+    "Lift the hand-sized sauce can, then place it next to the round teal cooking pot with matte texture",
+    "Set the hand-sized sauce can near the medium teal-colored pot with flat lid after picking it up",
+    "Use the right arm to lift the medium sauce can with white lid and place it next to the smooth teal kitchenpot for stovetop use",
+    "Lift the sauce can with glossy finish and move it near the round teal cooking pot with matte texture",
+    "Move the yellow brown sauce can to the kitchenpot with flat lid and knob with the right arm",
+    "Using the right arm, lift the sauce can and place it by the teal pot for boiling and cooking"
+  ],
+  "unseen": [
+    "Use the right arm to grab the smooth sauce can and place it by the blue kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the blue kitchenpot",
+    "Grab the smooth sauce can and move it near the teal blue cooking pot",
+    "Pick up the yellow label on sauce can and move it near the blue kitchenpot",
+    "Grab the smooth sauce can and place it near the blue pot with cylindrical body and lid",
+    "Pick up the yellow label on sauce can and set it beside the blue kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the teal blue cooking pot",
+    "Lift the smooth sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the smooth sauce can, move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the yellow label on sauce can and place it by the teal blue cooking pot",
+    "Grab the yellow label on sauce can and place it beside the teal blue cooking pot",
+    "Grab the smooth sauce can and move it near the blue kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the smooth sauce can and place it near the blue kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the teal blue cooking pot",
+    "Grab the smooth sauce can and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the blue kitchenpot",
+    "Lift the smooth sauce can and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the blue kitchenpot",
+    "Use the right arm to grab the yellow label on sauce can and place it by the blue kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the blue pot with cylindrical body and lid",
+    "Grab the smooth sauce can and move it near the teal blue cooking pot",
+    "Pick up the brown sauce can with top lid and move it near the blue pot with cylindrical body and lid",
+    "Grab the smooth sauce can and place it near the blue kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the blue kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the smooth sauce can and move it beside the teal blue cooking pot",
+    "Lift the yellow label on sauce can and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the teal blue cooking pot",
+    "Use the right arm to grab the smooth sauce can and place it by the blue pot with cylindrical body and lid",
+    "Grab the yellow label on sauce can and place it beside the blue kitchenpot",
+    "Grab the smooth sauce can and move it near the blue pot with cylindrical body and lid",
+    "Pick up the smooth sauce can and move it near the blue kitchenpot",
+    "Grab the smooth sauce can and place it near the teal blue cooking pot",
+    "Pick up the brown sauce can with top lid and set it beside the blue kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the teal blue cooking pot",
+    "Lift the smooth sauce can and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the smooth sauce can, move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the blue pot with cylindrical body and lid",
+    "Grab the yellow label on sauce can and place it beside the blue pot with cylindrical body and lid",
+    "Grab the brown sauce can with top lid and move it near the teal blue cooking pot",
+    "Pick up the yellow label on sauce can and move it near the blue kitchenpot",
+    "Grab the yellow label on sauce can and place it near the teal blue cooking pot",
+    "Pick up the yellow label on sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Grab the yellow label on sauce can and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the smooth sauce can and move it beside the teal blue cooking pot",
+    "Lift the yellow label on sauce can and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the teal blue cooking pot",
+    "Grab the yellow label on sauce can and place it beside the blue kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the blue kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the blue kitchenpot",
+    "Grab the smooth sauce can and place it near the teal blue cooking pot",
+    "Pick up the brown sauce can with top lid and set it beside the teal blue cooking pot",
+    "Grab the brown sauce can with top lid and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the teal blue cooking pot",
+    "Lift the smooth sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the yellow label on sauce can and place it by the blue pot with cylindrical body and lid",
+    "Grab the brown sauce can with top lid and place it beside the teal blue cooking pot",
+    "Grab the brown sauce can with top lid and move it near the blue kitchenpot",
+    "Pick up the smooth sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the brown sauce can with top lid and place it near the blue kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the teal blue cooking pot",
+    "Grab the yellow label on sauce can and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the teal blue cooking pot",
+    "Lift the yellow label on sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the smooth sauce can, move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the smooth sauce can and place it by the blue kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the blue pot with cylindrical body and lid",
+    "Grab the yellow label on sauce can and move it near the teal blue cooking pot",
+    "Pick up the yellow label on sauce can and move it near the teal blue cooking pot",
+    "Grab the smooth sauce can and place it near the teal blue cooking pot",
+    "Pick up the yellow label on sauce can and set it beside the blue kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the blue kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the yellow label on sauce can and place it by the blue kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the blue pot with cylindrical body and lid",
+    "Grab the yellow label on sauce can and move it near the teal blue cooking pot",
+    "Pick up the yellow label on sauce can and move it near the blue kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the teal blue cooking pot",
+    "Pick up the smooth sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Grab the yellow label on sauce can and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the blue kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the yellow label on sauce can and place it by the teal blue cooking pot",
+    "Grab the brown sauce can with top lid and place it beside the blue pot with cylindrical body and lid",
+    "Grab the smooth sauce can and move it near the blue kitchenpot",
+    "Pick up the smooth sauce can and move it near the blue kitchenpot",
+    "Grab the yellow label on sauce can and place it near the teal blue cooking pot",
+    "Pick up the smooth sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Grab the brown sauce can with top lid and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the smooth sauce can and move it beside the teal blue cooking pot",
+    "Lift the yellow label on sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the blue kitchenpot"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001041.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic lid sauce can and set it beside the metal cooking pot",
+    "Grab the hand-sized sauce can, move it to the kitchenpot with smooth texture's side",
+    "Set the brown and yellow cylindrical sauce can right next to the pot with round lid",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the gray pot for boiling food",
+    "Pick the sauce can with glossy finish up and carefully position it beside the pot with lid and sturdy handles",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the dark gray pot with side handles",
+    "Place the yellow brown sauce can next to the round pot with dark gray knob",
+    "Take the medium sauce can with white lid to the kitchenpot with smooth texture using the left arm",
+    "Bring the yellow brown sauce can over and set it near the rounded pot with metal lid",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the rounded pot with metal lid",
+    "Use the left arm to pick the medium sauce can with white lid up and set it beside the metal cooking pot",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the medium-sized smooth gray cooking pot",
+    "Pick up the round sauce can with yellow pattern and put it beside the kitchenpot used for cooking meals",
+    "Take the sauce can with sealed top using the left arm, set it next to the kitchenpot with smooth texture",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the medium-sized smooth gray cooking pot",
+    "Lift the yellow brown sauce can and move it near the gray kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the dark gray pot with side handles",
+    "Pick the hand-sized sauce can up and move it next to the medium-sized smooth gray cooking pot",
+    "Lift the rounded-edge sauce can and set it next to the pot with lid and sturdy handles",
+    "Lift the sauce can, place it by the round pot with dark gray knob",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the medium-sized smooth gray cooking pot",
+    "Use the left arm to move the rounded-edge sauce can beside the dark gray pot with side handles",
+    "Grab the cylindrical sauce can and move it close to the medium-sized smooth gray cooking pot",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the medium gray pot with handles",
+    "Lift the sauce can, then place it next to the rounded pot with metal lid",
+    "Pick up the sauce can with sealed top with the left arm and set by the medium gray pot with handles",
+    "Take the sauce can with the left arm, bring it, and set next to the round pot with dark gray knob",
+    "Grab the cylindrical sauce can with the left arm and move it close to the dark gray pot with side handles",
+    "Pick the sauce can with the left arm and relocate it near the kitchenpot used for cooking meals",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the rounded pot with metal lid",
+    "Pick the sauce can up with the left arm then place near the kitchenpot used for cooking meals",
+    "With the left arm, grab the sauce can with glossy finish and move to the pot with round lid",
+    "Grab the plastic lid sauce can with the left arm and set it near the metal cooking pot",
+    "Lift the white plastic lid sauce can and set it next to the round pot with dark gray knob",
+    "Grab the cylindrical sauce can with the left arm and position it beside the gray kitchenpot",
+    "Move the rounded-edge sauce can to the kitchenpot used for cooking meals with the left arm",
+    "Lift the medium sauce can with white lid using the left arm and position it by the metal cooking pot",
+    "Move the sauce can with sealed top to be next to the kitchenpot with smooth texture",
+    "Take the yellow brown sauce can with the left arm, place it near the kitchenpot with smooth texture",
+    "Use the left arm to grab the white plastic lid sauce can and move it next to the kitchenpot with smooth texture",
+    "Move the rounded-edge sauce can beside the medium gray pot with handles after lifting it",
+    "Pick the medium sauce can with white lid and position it next to the medium gray pot with handles",
+    "Set the brown and yellow cylindrical sauce can near the medium-sized smooth gray cooking pot after picking it up",
+    "Lift the plastic lid sauce can and place it next to the gray kitchenpot",
+    "Place the white plastic lid sauce can beside the kitchenpot with smooth texture after picking it up",
+    "Grab the sauce can with glossy finish, move it, and place by the gray kitchenpot",
+    "Use the left arm to take the medium sauce can with white lid to the pot with lid and sturdy handles",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the medium-sized smooth gray cooking pot",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the kitchenpot used for cooking meals",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the round pot with dark gray knob",
+    "Lift the plastic lid sauce can and set it beside the dark gray pot with side handles",
+    "Grab the cylindrical sauce can, move it to the round pot with dark gray knob's side",
+    "Set the plastic lid sauce can right next to the gray pot for boiling food",
+    "Using the left arm, lift the sauce can with sealed top and place it by the kitchenpot used for cooking meals",
+    "Pick the yellow brown sauce can up and carefully position it beside the dark gray pot with side handles",
+    "Use the left arm to pick the plastic lid sauce can, position it near the gray kitchenpot",
+    "Place the brown and yellow cylindrical sauce can next to the medium-sized smooth gray cooking pot",
+    "Take the yellow brown sauce can to the rounded pot with metal lid using the left arm",
+    "Bring the yellow brown sauce can over and set it near the gray pot for boiling food",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the pot with round lid",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the pot with lid and sturdy handles",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the pot with lid and sturdy handles",
+    "Pick up the cylindrical sauce can and put it beside the pot with lid and sturdy handles",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the metal cooking pot",
+    "Pick up the hand-sized sauce can using the left arm, transfer it beside the medium gray pot with handles",
+    "Lift the sauce can with glossy finish and move it near the kitchenpot used for cooking meals",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the gray kitchenpot",
+    "Pick the yellow brown sauce can up and move it next to the round pot with dark gray knob",
+    "Lift the yellow brown sauce can and set it next to the metal cooking pot",
+    "Lift the white plastic lid sauce can, place it by the gray pot for boiling food",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the medium-sized smooth gray cooking pot",
+    "Use the left arm to move the sauce can with sealed top beside the kitchenpot used for cooking meals",
+    "Grab the yellow brown sauce can and move it close to the dark gray pot with side handles",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the rounded pot with metal lid",
+    "Lift the cylindrical sauce can, then place it next to the dark gray pot with side handles",
+    "Pick up the cylindrical sauce can with the left arm and set by the metal cooking pot",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the rounded pot with metal lid",
+    "Grab the sauce can with glossy finish with the left arm and move it close to the gray kitchenpot",
+    "Pick the medium sauce can with white lid with the left arm and relocate it near the round pot with dark gray knob",
+    "Lift the yellow brown sauce can using the left arm and drop it beside the metal cooking pot",
+    "Pick the plastic lid sauce can up with the left arm then place near the pot with round lid",
+    "With the left arm, grab the sauce can and move to the pot with lid and sturdy handles",
+    "Grab the sauce can with the left arm and set it near the rounded pot with metal lid",
+    "Lift the sauce can and set it next to the medium-sized smooth gray cooking pot",
+    "Grab the hand-sized sauce can with the left arm and position it beside the gray kitchenpot",
+    "Move the hand-sized sauce can to the kitchenpot with smooth texture with the left arm",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and position it by the kitchenpot used for cooking meals",
+    "Move the rounded-edge sauce can to be next to the gray kitchenpot",
+    "Take the sauce can with the left arm, place it near the kitchenpot used for cooking meals",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the metal cooking pot",
+    "Move the round sauce can with yellow pattern beside the medium-sized smooth gray cooking pot after lifting it",
+    "Pick the sauce can with glossy finish and position it next to the gray pot for boiling food",
+    "Set the sauce can near the pot with lid and sturdy handles after picking it up",
+    "Lift the hand-sized sauce can and place it next to the gray pot for boiling food",
+    "Place the rounded-edge sauce can beside the gray kitchenpot after picking it up",
+    "Grab the yellow brown sauce can, move it, and place by the pot with lid and sturdy handles",
+    "Use the left arm to take the sauce can with sealed top to the rounded pot with metal lid",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the round pot with dark gray knob",
+    "Move the yellow brown sauce can from its spot to near the gray pot for boiling food",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the medium gray pot with handles"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Pick up the brown sauce can with top lid and set it beside the metal pot with curved handles",
+    "Grab the smooth sauce can and set it beside the metal pot with curved handles",
+    "Use the left arm to grab the smooth sauce can and place it by the metal pot with curved handles",
+    "Grab the smooth sauce can and place it beside the cylindrical kitchenpot for cooking",
+    "Pick up the yellow label on sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Lift the yellow label on sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the smooth sauce can and move it beside the cylindrical kitchenpot for cooking",
+    "Grab the brown sauce can with top lid and move it near the metal pot with curved handles",
+    "Pick up the smooth sauce can and set it beside the metal pot with curved handles",
+    "Grab the smooth sauce can and set it beside the metal pot with curved handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the cylindrical kitchenpot for cooking",
+    "Grab the yellow label on sauce can and place it beside the metal pot with curved handles",
+    "Pick up the smooth sauce can and move it near the metal pot with curved handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the smooth gray pot with matte finish",
+    "Grab the yellow label on sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Lift the yellow label on sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to pick up the smooth sauce can and move it beside the metal pot with curved handles",
+    "Grab the brown sauce can with top lid and move it near the metal pot with curved handles",
+    "Pick up the smooth sauce can and set it beside the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to grab the smooth sauce can and place it by the metal pot with curved handles",
+    "Grab the yellow label on sauce can and place it beside the cylindrical kitchenpot for cooking",
+    "Pick up the smooth sauce can and move it near the metal pot with curved handles",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Lift the yellow label on sauce can and set it beside the metal pot with curved handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the smooth gray pot with matte finish",
+    "Grab the brown sauce can with top lid and move it near the smooth gray pot with matte finish",
+    "Pick up the smooth sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the brown sauce can with top lid and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to grab the yellow label on sauce can and place it by the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and place it beside the cylindrical kitchenpot for cooking",
+    "Pick up the brown sauce can with top lid and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the metal pot with curved handles",
+    "Grab the smooth sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Lift the brown sauce can with top lid and set it beside the metal pot with curved handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the metal pot with curved handles",
+    "Grab the yellow label on sauce can and move it near the metal pot with curved handles",
+    "Pick up the yellow label on sauce can and set it beside the metal pot with curved handles",
+    "Grab the smooth sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the metal pot with curved handles",
+    "Grab the smooth sauce can and place it beside the cylindrical kitchenpot for cooking",
+    "Pick up the brown sauce can with top lid and move it near the smooth gray pot with matte finish",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the smooth gray pot with matte finish",
+    "Grab the yellow label on sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Lift the smooth sauce can and set it beside the metal pot with curved handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the smooth gray pot with matte finish",
+    "Grab the brown sauce can with top lid and move it near the smooth gray pot with matte finish",
+    "Pick up the brown sauce can with top lid and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the brown sauce can with top lid and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to grab the yellow label on sauce can and place it by the smooth gray pot with matte finish",
+    "Grab the yellow label on sauce can and place it beside the metal pot with curved handles",
+    "Pick up the brown sauce can with top lid and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the cylindrical kitchenpot for cooking",
+    "Grab the yellow label on sauce can and place it near the metal pot with curved handles",
+    "Lift the yellow label on sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the smooth gray pot with matte finish",
+    "Grab the brown sauce can with top lid and move it near the metal pot with curved handles",
+    "Pick up the smooth sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the yellow label on sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to grab the yellow label on sauce can and place it by the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and place it beside the cylindrical kitchenpot for cooking",
+    "Pick up the yellow label on sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the smooth sauce can, move it near the smooth gray pot with matte finish",
+    "Grab the brown sauce can with top lid and place it near the cylindrical kitchenpot for cooking",
+    "Lift the yellow label on sauce can and set it beside the metal pot with curved handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and move it near the metal pot with curved handles",
+    "Pick up the brown sauce can with top lid and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the brown sauce can with top lid and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the cylindrical kitchenpot for cooking",
+    "Grab the brown sauce can with top lid and place it beside the smooth gray pot with matte finish",
+    "Pick up the yellow label on sauce can and move it near the smooth gray pot with matte finish",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the smooth gray pot with matte finish",
+    "Grab the brown sauce can with top lid and place it near the metal pot with curved handles",
+    "Lift the yellow label on sauce can and set it beside the metal pot with curved handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the metal pot with curved handles",
+    "Grab the yellow label on sauce can and move it near the smooth gray pot with matte finish",
+    "Pick up the brown sauce can with top lid and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the yellow label on sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to grab the smooth sauce can and place it by the smooth gray pot with matte finish",
+    "Grab the yellow label on sauce can and place it beside the metal pot with curved handles",
+    "Pick up the smooth sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the cylindrical kitchenpot for cooking",
+    "Grab the yellow label on sauce can and place it near the metal pot with curved handles",
+    "Lift the brown sauce can with top lid and set it beside the metal pot with curved handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the metal pot with curved handles",
+    "Grab the yellow label on sauce can and move it near the metal pot with curved handles",
+    "Pick up the smooth sauce can and set it beside the metal pot with curved handles",
+    "Grab the brown sauce can with top lid and set it beside the metal pot with curved handles",
+    "Use the left arm to grab the smooth sauce can and place it by the cylindrical kitchenpot for cooking",
+    "Grab the yellow label on sauce can and place it beside the smooth gray pot with matte finish",
+    "Pick up the smooth sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the cylindrical kitchenpot for cooking",
+    "Grab the yellow label on sauce can and place it near the metal pot with curved handles",
+    "Lift the yellow label on sauce can and set it beside the metal pot with curved handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the metal pot with curved handles"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001043.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the red can with orange label and transfer it near the kitchenpot with smooth metallic lid",
+    "Move the red and orange sauce can to the metallic pot with matte finish with the right arm",
+    "Lift the small metal sauce container and set it next to the kitchenpot with smooth metallic lid",
+    "Take the sauce can with red lid with the right arm, bring it, and set next to the silver kitchenpot with black grips",
+    "Pick the sauce can with red lid and position it next to the kitchenpot with smooth metallic lid",
+    "Use the right arm to pick the metal body sauce can, position it near the silver kitchenpot with black grips",
+    "Pick up the sauce can with red lid and put it beside the rounded pot with curved handles",
+    "Grab the sauce can with rounded top cap with the right arm and set it near the medium-sized pot with plastic grips",
+    "Take the red can with orange label using the right arm, set it next to the medium silver pot for cooking",
+    "Set the sturdy sauce can with glossy finish near the rounded pot with curved handles after picking it up",
+    "Take the sauce can with red lid with the right arm, place it near the medium silver pot for cooking",
+    "Grab the small metal sauce container, move it to the cooking pot with snug-fitting lid's side",
+    "Place the smooth sauce can next to the silver kitchenpot",
+    "Move the sauce can with rounded top cap to be next to the cooking pot with snug-fitting lid",
+    "Using the right arm, lift the small cylindrical sauce can and place it by the silver kitchenpot",
+    "Place the sauce can with rounded top cap beside the medium silver pot for cooking after picking it up",
+    "Grab the metal body sauce can with the right arm and position it beside the kitchenpot with smooth metallic lid",
+    "Grab the cylindrical sauce can, shift it, and place it close to the silver pot with black grips",
+    "Lift the cylindrical sauce can, then place it next to the metallic pot with plastic handles",
+    "Pick the compact sauce can with plastic lid up and move it next to the silver kitchenpot with black grips",
+    "Move the red can with orange label beside the medium-sized pot with plastic grips after lifting it",
+    "Use the right arm to grab the cylindrical sauce can, move it beside the medium silver pot for cooking",
+    "Use the right arm to lift the sauce can with red lid and place it near the medium silver pot for cooking",
+    "Lift the sauce can with rounded top cap and set it beside the silver pot with matching lid",
+    "Lift the sauce can with red lid, place it by the medium-sized pot with plastic grips",
+    "Lift the sauce can with printed design and move it near the metallic pot with matte finish",
+    "Pick the red and orange sauce can with the right arm and relocate it near the silver pot with matching lid",
+    "Grab the sturdy sauce can with glossy finish and move it close to the rounded silver pot with handles",
+    "Lift the red can with orange label and set it next to the medium-sized pot with plastic grips",
+    "Set the smooth sauce can right next to the rounded pot with curved handles",
+    "Pick up the cylindrical sauce can using the right arm, transfer it beside the medium silver pot for cooking",
+    "Bring the red can with orange label over and set it near the kitchenpot with smooth metallic lid",
+    "Use the right arm to take the compact sauce can with plastic lid to the silver pot with matching lid",
+    "Lift the sauce can with rounded top cap using the right arm and drop it beside the silver kitchenpot with black grips",
+    "Move the small cylindrical sauce can from its spot to near the rounded silver pot with handles",
+    "Lift the smooth sauce can and place it next to the rounded silver pot with handles",
+    "Pick the sturdy sauce can with glossy finish up with the right arm then place near the metallic pot with plastic handles",
+    "Use the right arm to grab the compact sauce can with plastic lid and move it next to the rounded silver pot with handles",
+    "Grab the red can with orange label, move it, and place by the medium-sized pot with plastic grips",
+    "Use the right arm to lift the small metal sauce container, then move it next to the rounded pot with curved handles",
+    "Pick up the smooth sauce can with the right arm and set by the metallic pot with matte finish",
+    "Lift the smooth sauce can using the right arm and position it by the silver kitchenpot with black grips",
+    "Use the right arm to pick the sturdy sauce can with glossy finish up and set it beside the rounded pot with curved handles",
+    "With the right arm, grab the sauce can with printed design and move to the medium-sized pot with plastic grips",
+    "Take the red can with orange label to the silver kitchenpot using the right arm",
+    "Use the right arm to lift the cylindrical sauce can and place it next to the kitchenpot with smooth metallic lid",
+    "Use the right arm to move the red can with orange label beside the rounded silver pot with handles",
+    "Pick the compact sauce can with plastic lid up and carefully position it beside the silver kitchenpot",
+    "Use the right arm to grab the sauce can with rounded top cap and move it beside the silver kitchenpot with black grips",
+    "Grab the small metal sauce container with the right arm and move it close to the cooking pot with snug-fitting lid",
+    "Use the right arm to grab the compact sauce can with plastic lid and transfer it near the medium-sized pot with plastic grips",
+    "Move the sauce can with red lid to the silver pot with matching lid with the right arm",
+    "Lift the cylindrical sauce can and set it next to the medium silver pot for cooking",
+    "Take the red and orange sauce can with the right arm, bring it, and set next to the silver kitchenpot",
+    "Pick the metal body sauce can and position it next to the silver kitchenpot with black grips",
+    "Use the right arm to pick the sauce can with rounded top cap, position it near the medium silver pot for cooking",
+    "Pick up the metal body sauce can and put it beside the silver pot with black grips",
+    "Grab the compact sauce can with plastic lid with the right arm and set it near the rounded pot with curved handles",
+    "Take the small metal sauce container using the right arm, set it next to the rounded pot with curved handles",
+    "Set the sauce can with printed design near the cooking pot with snug-fitting lid after picking it up",
+    "Take the sturdy sauce can with glossy finish with the right arm, place it near the medium silver pot for cooking",
+    "Grab the red can with orange label, move it to the rounded silver pot with handles's side",
+    "Place the small cylindrical sauce can next to the silver pot with black grips",
+    "Move the sturdy sauce can with glossy finish to be next to the kitchenpot with smooth metallic lid",
+    "Using the right arm, lift the sauce can with rounded top cap and place it by the silver kitchenpot with black grips",
+    "Place the red and orange sauce can beside the silver kitchenpot after picking it up",
+    "Grab the metal body sauce can with the right arm and position it beside the kitchenpot with smooth metallic lid",
+    "Grab the sturdy sauce can with glossy finish, shift it, and place it close to the silver kitchenpot",
+    "Lift the smooth sauce can, then place it next to the medium-sized pot with plastic grips",
+    "Pick the cylindrical sauce can up and move it next to the rounded silver pot with handles",
+    "Move the red can with orange label beside the metallic pot with matte finish after lifting it",
+    "Use the right arm to grab the small metal sauce container, move it beside the kitchenpot with smooth metallic lid",
+    "Use the right arm to lift the compact sauce can with plastic lid and place it near the medium-sized pot with plastic grips",
+    "Lift the small cylindrical sauce can and set it beside the medium silver pot for cooking",
+    "Lift the sturdy sauce can with glossy finish, place it by the medium-sized pot with plastic grips",
+    "Lift the metal body sauce can and move it near the silver pot with black grips",
+    "Pick the smooth sauce can with the right arm and relocate it near the medium silver pot for cooking",
+    "Grab the sauce can with printed design and move it close to the medium-sized pot with plastic grips",
+    "Lift the small metal sauce container and set it next to the medium-sized pot with plastic grips",
+    "Set the small metal sauce container right next to the metallic pot with matte finish",
+    "Pick up the cylindrical sauce can using the right arm, transfer it beside the silver pot with black grips",
+    "Bring the red can with orange label over and set it near the medium silver pot for cooking",
+    "Use the right arm to take the red and orange sauce can to the medium silver pot for cooking",
+    "Lift the sauce can with red lid using the right arm and drop it beside the metallic pot with plastic handles",
+    "Move the smooth sauce can from its spot to near the metallic pot with plastic handles",
+    "Lift the small metal sauce container and place it next to the silver kitchenpot with black grips",
+    "Pick the red can with orange label up with the right arm then place near the metallic pot with matte finish",
+    "Use the right arm to grab the metal body sauce can and move it next to the silver kitchenpot with black grips",
+    "Grab the cylindrical sauce can, move it, and place by the kitchenpot with smooth metallic lid",
+    "Use the right arm to lift the red can with orange label, then move it next to the cooking pot with snug-fitting lid",
+    "Pick up the small metal sauce container with the right arm and set by the kitchenpot with smooth metallic lid",
+    "Lift the metal body sauce can using the right arm and position it by the silver pot with black grips",
+    "Use the right arm to pick the small metal sauce container up and set it beside the silver pot with black grips",
+    "With the right arm, grab the small metal sauce container and move to the cooking pot with snug-fitting lid",
+    "Take the sturdy sauce can with glossy finish to the cooking pot with snug-fitting lid using the right arm",
+    "Use the right arm to lift the small cylindrical sauce can and place it next to the metallic pot with plastic handles",
+    "Use the right arm to move the metal body sauce can beside the medium silver pot for cooking",
+    "Pick the small metal sauce container up and carefully position it beside the rounded silver pot with handles",
+    "Use the right arm to grab the red can with orange label and move it beside the rounded silver pot with handles",
+    "Grab the cylindrical sauce can with the right arm and move it close to the kitchenpot with smooth metallic lid"
+  ],
+  "unseen": [
+    "Grab the red sauce can and set it beside the medium kitchenpot with black handles",
+    "Pick up the red sauce can and set it beside the rounded cooking pot with two handles",
+    "Grab the red sauce can and place it beside the kitchenpot for stovetop boiling",
+    "Pick up the red can with white text and move it near the kitchenpot for stovetop boiling",
+    "Lift the red sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the red can with white text and move it beside the medium kitchenpot with black handles",
+    "Grab the sauce can with round ridged lid and place it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the kitchenpot for stovetop boiling",
+    "Grab the sauce can with round ridged lid and move it near the rounded cooking pot with two handles",
+    "Use the right arm to grab the red can with white text and place it by the medium kitchenpot with black handles",
+    "Grab the sauce can with round ridged lid and set it beside the kitchenpot for stovetop boiling",
+    "Pick up the red sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Grab the red sauce can and place it beside the kitchenpot for stovetop boiling",
+    "Pick up the red can with white text and move it near the medium kitchenpot with black handles",
+    "Lift the sauce can with round ridged lid and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the kitchenpot for stovetop boiling",
+    "Grab the sauce can with round ridged lid and place it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the medium kitchenpot with black handles",
+    "Grab the red can with white text and move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the sauce can with round ridged lid and place it by the medium kitchenpot with black handles",
+    "Grab the red sauce can and set it beside the rounded cooking pot with two handles",
+    "Pick up the red sauce can and set it beside the medium kitchenpot with black handles",
+    "Grab the red can with white text and place it beside the kitchenpot for stovetop boiling",
+    "Pick up the red sauce can and move it near the medium kitchenpot with black handles",
+    "Lift the sauce can with round ridged lid and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the rounded cooking pot with two handles",
+    "Grab the red sauce can and place it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the kitchenpot for stovetop boiling",
+    "Grab the red sauce can and move it near the rounded cooking pot with two handles",
+    "Use the right arm to grab the red can with white text and place it by the rounded cooking pot with two handles",
+    "Grab the sauce can with round ridged lid and set it beside the medium kitchenpot with black handles",
+    "Pick up the red can with white text and set it beside the rounded cooking pot with two handles",
+    "Grab the red can with white text and place it beside the kitchenpot for stovetop boiling",
+    "Pick up the red can with white text and move it near the kitchenpot for stovetop boiling",
+    "Lift the red can with white text and set it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the red sauce can and move it beside the medium kitchenpot with black handles",
+    "Grab the red can with white text and place it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the red can with white text, move it near the kitchenpot for stovetop boiling",
+    "Grab the red sauce can and move it near the rounded cooking pot with two handles",
+    "Use the right arm to grab the red can with white text and place it by the kitchenpot for stovetop boiling",
+    "Grab the red can with white text and set it beside the kitchenpot for stovetop boiling",
+    "Pick up the red sauce can and set it beside the medium kitchenpot with black handles",
+    "Grab the red can with white text and place it beside the medium kitchenpot with black handles",
+    "Pick up the sauce can with round ridged lid and move it near the rounded cooking pot with two handles",
+    "Lift the red sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the red sauce can and move it beside the rounded cooking pot with two handles",
+    "Grab the red can with white text and place it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the medium kitchenpot with black handles",
+    "Grab the red can with white text and move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the sauce can with round ridged lid and place it by the rounded cooking pot with two handles",
+    "Grab the red can with white text and set it beside the rounded cooking pot with two handles",
+    "Pick up the sauce can with round ridged lid and set it beside the medium kitchenpot with black handles",
+    "Grab the red sauce can and place it beside the medium kitchenpot with black handles",
+    "Pick up the red can with white text and move it near the rounded cooking pot with two handles",
+    "Lift the sauce can with round ridged lid and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the kitchenpot for stovetop boiling",
+    "Grab the red sauce can and place it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the red can with white text, move it near the kitchenpot for stovetop boiling",
+    "Grab the sauce can with round ridged lid and move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the red can with white text and place it by the rounded cooking pot with two handles",
+    "Grab the sauce can with round ridged lid and set it beside the kitchenpot for stovetop boiling",
+    "Pick up the red sauce can and set it beside the rounded cooking pot with two handles",
+    "Grab the red sauce can and place it beside the medium kitchenpot with black handles",
+    "Pick up the red sauce can and move it near the rounded cooking pot with two handles",
+    "Lift the red can with white text and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the red can with white text and move it beside the medium kitchenpot with black handles",
+    "Grab the sauce can with round ridged lid and place it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the medium kitchenpot with black handles",
+    "Grab the red can with white text and move it near the rounded cooking pot with two handles",
+    "Use the right arm to grab the red can with white text and place it by the kitchenpot for stovetop boiling",
+    "Grab the red can with white text and set it beside the kitchenpot for stovetop boiling",
+    "Pick up the sauce can with round ridged lid and set it beside the rounded cooking pot with two handles",
+    "Grab the sauce can with round ridged lid and place it beside the medium kitchenpot with black handles",
+    "Pick up the sauce can with round ridged lid and move it near the kitchenpot for stovetop boiling",
+    "Lift the red sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the red can with white text and move it beside the rounded cooking pot with two handles",
+    "Grab the red can with white text and place it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the red sauce can, move it near the rounded cooking pot with two handles",
+    "Grab the red can with white text and move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the red sauce can and place it by the rounded cooking pot with two handles",
+    "Grab the red can with white text and set it beside the medium kitchenpot with black handles",
+    "Pick up the red sauce can and set it beside the rounded cooking pot with two handles",
+    "Grab the red sauce can and place it beside the kitchenpot for stovetop boiling",
+    "Pick up the red sauce can and move it near the kitchenpot for stovetop boiling",
+    "Lift the red sauce can and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the red can with white text and move it beside the medium kitchenpot with black handles",
+    "Grab the red can with white text and place it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the red sauce can, move it near the kitchenpot for stovetop boiling",
+    "Grab the red can with white text and move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the red can with white text and place it by the medium kitchenpot with black handles",
+    "Grab the red can with white text and set it beside the rounded cooking pot with two handles",
+    "Pick up the sauce can with round ridged lid and set it beside the rounded cooking pot with two handles",
+    "Grab the red can with white text and place it beside the rounded cooking pot with two handles",
+    "Pick up the red can with white text and move it near the medium kitchenpot with black handles",
+    "Lift the red can with white text and set it beside the medium kitchenpot with black handles",
+    "Use the right arm to pick up the red sauce can and move it beside the medium kitchenpot with black handles",
+    "Grab the red sauce can and place it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the red can with white text, move it near the kitchenpot for stovetop boiling",
+    "Grab the red can with white text and move it near the medium kitchenpot with black handles",
+    "Use the right arm to grab the sauce can with round ridged lid and place it by the kitchenpot for stovetop boiling"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001044.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and transfer it near the kitchenpot with black rectangular panel",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the light grey kitchenpot with dark top",
+    "Move the plastic lid sauce can to be next to the smooth kitchenpot with black button",
+    "Grab the sauce can and move it close to the smooth kitchenpot with black button",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it beside the kitchenpot with two side handles",
+    "Use the left arm to pick the yellow brown sauce can up and set it beside the matte-finished kitchenpot",
+    "Bring the sauce can with sealed top over and set it near the kitchenpot with black rectangular panel",
+    "Grab the sauce can with sealed top with the left arm and position it beside the kitchenpot with red indicator light",
+    "Use the left arm to take the rounded-edge sauce can to the kitchenpot with black base",
+    "Grab the rounded-edge sauce can with the left arm and move it close to the cylindrical kitchenpot with flat edges",
+    "Pick the white plastic lid sauce can up and carefully position it beside the matte-finished kitchenpot",
+    "Use the left arm to move the rounded-edge sauce can beside the cylindrical kitchenpot with flat edges",
+    "Grab the round sauce can with yellow pattern, move it to the matte-finished kitchenpot's side",
+    "Set the sauce can with sealed top right next to the grey kitchenpot with dark circle inside",
+    "Lift the sauce can with glossy finish using the left arm and position it by the grey kitchenpot with dark circle inside",
+    "Lift the medium sauce can with white lid and move it near the matte-finished kitchenpot",
+    "Take the sauce can with glossy finish with the left arm, place it near the cylindrical kitchenpot with flat edges",
+    "Take the yellow brown sauce can using the left arm, set it next to the grey kitchenpot",
+    "Grab the plastic lid sauce can, shift it, and place it close to the light grey kitchenpot with dark top",
+    "Place the white plastic lid sauce can next to the kitchenpot with sturdy plastic body",
+    "Use the left arm to grab the sauce can with sealed top, move it beside the kitchenpot with black rectangular panel",
+    "Lift the white plastic lid sauce can and set it next to the grey kitchenpot with dark circle inside",
+    "Pick the sauce can with sealed top up and move it next to the kitchenpot with red indicator light",
+    "Move the medium sauce can with white lid to the light grey kitchenpot with dark top with the left arm",
+    "Lift the plastic lid sauce can and set it next to the cylindrical kitchenpot with flat edges",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the kitchenpot with sturdy plastic body",
+    "Use the left arm to lift the sauce can with sealed top and place it near the cylindrical kitchenpot with flat edges",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the kitchenpot with sturdy plastic body",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the light grey kitchenpot with dark top",
+    "Take the cylindrical sauce can to the kitchenpot with black base using the left arm",
+    "Lift the cylindrical sauce can, then place it next to the grey kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the grey kitchenpot with dark circle inside",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can, then move it next to the kitchenpot with two side handles",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the kitchenpot with sturdy plastic body",
+    "Using the left arm, lift the plastic lid sauce can and place it by the grey kitchenpot with dark circle inside",
+    "Grab the sauce can with sealed top with the left arm and set it near the matte-finished kitchenpot",
+    "Lift the sauce can and place it next to the kitchenpot with black rectangular panel",
+    "Pick the cylindrical sauce can up with the left arm then place near the grey kitchenpot",
+    "Grab the plastic lid sauce can, move it, and place by the grey kitchenpot",
+    "With the left arm, grab the cylindrical sauce can and move to the kitchenpot with black base",
+    "Move the sauce can with glossy finish from its spot to near the round kitchenpot",
+    "Lift the medium sauce can with white lid and set it beside the kitchenpot with black rectangular panel",
+    "Lift the white plastic lid sauce can, place it by the kitchenpot with two side handles",
+    "Pick up the brown and yellow cylindrical sauce can with the left arm and set by the kitchenpot with sturdy plastic body",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the matte-finished kitchenpot",
+    "Place the rounded-edge sauce can beside the kitchenpot with two side handles after picking it up",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the matte-finished kitchenpot",
+    "Move the cylindrical sauce can beside the grey kitchenpot after lifting it",
+    "Set the hand-sized sauce can near the cylindrical kitchenpot with flat edges after picking it up",
+    "Take the sauce can with the left arm, bring it, and set next to the matte-finished kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the smooth kitchenpot with black button",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the light grey kitchenpot with dark top",
+    "Move the round sauce can with yellow pattern to be next to the kitchenpot with black base",
+    "Grab the round sauce can with yellow pattern and move it close to the light grey kitchenpot with dark top",
+    "Use the left arm to grab the white plastic lid sauce can and move it beside the round kitchenpot",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the kitchenpot with black rectangular panel",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the kitchenpot with sturdy plastic body",
+    "Grab the sauce can with glossy finish with the left arm and position it beside the kitchenpot with sturdy plastic body",
+    "Use the left arm to take the round sauce can with yellow pattern to the kitchenpot with red indicator light",
+    "Grab the round sauce can with yellow pattern with the left arm and move it close to the kitchenpot with black rectangular panel",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the kitchenpot with black rectangular panel",
+    "Use the left arm to move the yellow brown sauce can beside the kitchenpot with red indicator light",
+    "Grab the white plastic lid sauce can, move it to the matte-finished kitchenpot's side",
+    "Set the round sauce can with yellow pattern right next to the smooth kitchenpot with black button",
+    "Lift the plastic lid sauce can using the left arm and position it by the cylindrical kitchenpot with flat edges",
+    "Lift the brown and yellow cylindrical sauce can and move it near the kitchenpot with two side handles",
+    "Take the rounded-edge sauce can with the left arm, place it near the grey kitchenpot",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the kitchenpot with two side handles",
+    "Grab the yellow brown sauce can, shift it, and place it close to the kitchenpot with red indicator light",
+    "Place the cylindrical sauce can next to the grey kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the kitchenpot with red indicator light",
+    "Lift the plastic lid sauce can and set it next to the grey kitchenpot",
+    "Pick the sauce can with sealed top up and move it next to the kitchenpot with black rectangular panel",
+    "Move the cylindrical sauce can to the grey kitchenpot with the left arm",
+    "Lift the plastic lid sauce can and set it next to the light grey kitchenpot with dark top",
+    "Pick the round sauce can with yellow pattern and position it next to the kitchenpot with black base",
+    "Use the left arm to lift the cylindrical sauce can and place it near the light grey kitchenpot with dark top",
+    "Pick up the cylindrical sauce can and put it beside the light grey kitchenpot with dark top",
+    "Use the left arm to lift the sauce can and place it next to the kitchenpot with two side handles",
+    "Take the sauce can with sealed top to the kitchenpot with black base using the left arm",
+    "Lift the rounded-edge sauce can, then place it next to the grey kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the kitchenpot with red indicator light",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the kitchenpot with red indicator light",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the kitchenpot with black rectangular panel",
+    "Using the left arm, lift the plastic lid sauce can and place it by the matte-finished kitchenpot",
+    "Grab the white plastic lid sauce can with the left arm and set it near the kitchenpot with black base",
+    "Lift the hand-sized sauce can and place it next to the cylindrical kitchenpot with flat edges",
+    "Pick the rounded-edge sauce can up with the left arm then place near the matte-finished kitchenpot",
+    "Grab the white plastic lid sauce can, move it, and place by the round kitchenpot",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the kitchenpot with black rectangular panel",
+    "Move the sauce can from its spot to near the grey kitchenpot",
+    "Lift the sauce can with sealed top and set it beside the kitchenpot with red indicator light",
+    "Lift the brown and yellow cylindrical sauce can, place it by the matte-finished kitchenpot",
+    "Pick up the white plastic lid sauce can with the left arm and set by the light grey kitchenpot with dark top",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the kitchenpot with two side handles",
+    "Place the hand-sized sauce can beside the round kitchenpot after picking it up",
+    "Lift the sauce can using the left arm and drop it beside the kitchenpot with red indicator light",
+    "Move the plastic lid sauce can beside the grey kitchenpot with dark circle inside after lifting it",
+    "Set the rounded-edge sauce can near the kitchenpot with sturdy plastic body after picking it up",
+    "Take the sauce can with sealed top with the left arm, bring it, and set next to the grey kitchenpot with dark circle inside"
+  ],
+  "unseen": [
+    "Pick up the yellow label on sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot for cooking food",
+    "Grab the brown sauce can with top lid and place it near the medium kitchenpot",
+    "Pick up the smooth sauce can and set it beside the medium kitchenpot",
+    "Grab the smooth sauce can and move it near the medium kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the compact kitchenpot with lid-like surface",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot for cooking food",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot for cooking food",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the medium kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the medium kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the compact kitchenpot with lid-like surface",
+    "Grab the yellow label on sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot for cooking food",
+    "Grab the smooth sauce can and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the compact kitchenpot with lid-like surface",
+    "Lift the yellow label on sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the brown sauce can with top lid and set it beside the medium kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the compact kitchenpot with lid-like surface",
+    "Grab the yellow label on sauce can and place it beside the medium kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the medium kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the medium kitchenpot",
+    "Grab the smooth sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Pick up the yellow label on sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the yellow label on sauce can and move it near the medium kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the compact kitchenpot with lid-like surface",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot for cooking food",
+    "Grab the brown sauce can with top lid and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to grab the yellow label on sauce can and place it by the compact kitchenpot with lid-like surface",
+    "Grab the smooth sauce can and place it beside the medium kitchenpot",
+    "Pick up the smooth sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot for cooking food",
+    "Grab the smooth sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Pick up the smooth sauce can and set it beside the medium kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the compact kitchenpot with lid-like surface",
+    "Lift the smooth sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the smooth sauce can and set it beside the medium kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot for cooking food",
+    "Grab the yellow label on sauce can and place it beside the compact kitchenpot with lid-like surface",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the medium kitchenpot",
+    "Grab the smooth sauce can and place it near the medium kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the medium kitchenpot",
+    "Grab the yellow label on sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot for cooking food",
+    "Lift the smooth sauce can and set it beside the kitchenpot for cooking food",
+    "Grab the yellow label on sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot for cooking food",
+    "Grab the brown sauce can with top lid and place it beside the compact kitchenpot with lid-like surface",
+    "Pick up the smooth sauce can and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot for cooking food",
+    "Grab the yellow label on sauce can and place it near the kitchenpot for cooking food",
+    "Pick up the smooth sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the yellow label on sauce can and move it near the medium kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the medium kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot for cooking food",
+    "Grab the brown sauce can with top lid and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to grab the smooth sauce can and place it by the kitchenpot for cooking food",
+    "Grab the smooth sauce can and place it beside the kitchenpot for cooking food",
+    "Pick up the brown sauce can with top lid and move it near the medium kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the medium kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot for cooking food",
+    "Pick up the brown sauce can with top lid and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the smooth sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the compact kitchenpot with lid-like surface",
+    "Lift the smooth sauce can and set it beside the medium kitchenpot",
+    "Grab the smooth sauce can and set it beside the medium kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the medium kitchenpot",
+    "Grab the smooth sauce can and place it beside the compact kitchenpot with lid-like surface",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the medium kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the compact kitchenpot with lid-like surface",
+    "Pick up the yellow label on sauce can and set it beside the medium kitchenpot",
+    "Grab the smooth sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot for cooking food",
+    "Lift the smooth sauce can and set it beside the medium kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot for cooking food",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot for cooking food",
+    "Grab the yellow label on sauce can and place it beside the medium kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot for cooking food",
+    "Grab the smooth sauce can and place it near the medium kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the medium kitchenpot",
+    "Grab the smooth sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the kitchenpot for cooking food",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot for cooking food",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot for cooking food",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the compact kitchenpot with lid-like surface",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot for cooking food",
+    "Pick up the yellow label on sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot for cooking food",
+    "Grab the smooth sauce can and place it near the medium kitchenpot",
+    "Pick up the smooth sauce can and set it beside the medium kitchenpot",
+    "Grab the yellow label on sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the compact kitchenpot with lid-like surface",
+    "Lift the yellow label on sauce can and set it beside the medium kitchenpot",
+    "Grab the smooth sauce can and set it beside the medium kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the medium kitchenpot",
+    "Grab the smooth sauce can and place it beside the medium kitchenpot"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001046.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the red and orange sauce can, then move it next to the grey kitchenpot",
+    "Grab the sauce can with rounded top cap with the left arm and set it near the light grey kitchenpot with dark top",
+    "Pick the small metal sauce container up with the left arm then place near the matte-finished kitchenpot",
+    "Pick the sturdy sauce can with glossy finish up and move it next to the kitchenpot with red indicator light",
+    "Use the left arm to take the compact sauce can with plastic lid to the round kitchenpot",
+    "Bring the sauce can with rounded top cap over and set it near the kitchenpot with black rectangular panel",
+    "Grab the red can with orange label with the left arm and position it beside the matte-finished kitchenpot",
+    "Grab the cylindrical sauce can, move it to the grey kitchenpot's side",
+    "Place the metal body sauce can next to the kitchenpot with black base",
+    "Grab the red can with orange label with the left arm and move it close to the smooth kitchenpot with black button",
+    "Take the sauce can with red lid with the left arm, bring it, and set next to the kitchenpot with two side handles",
+    "Set the cylindrical sauce can near the kitchenpot with sturdy plastic body after picking it up",
+    "With the left arm, grab the small metal sauce container and move to the light grey kitchenpot with dark top",
+    "Lift the small cylindrical sauce can and move it near the light grey kitchenpot with dark top",
+    "Grab the red can with orange label, shift it, and place it close to the grey kitchenpot",
+    "Use the left arm to lift the sauce can with printed design and place it next to the kitchenpot with two side handles",
+    "Lift the red and orange sauce can, place it by the round kitchenpot",
+    "Pick up the sauce can with red lid using the left arm, transfer it beside the cylindrical kitchenpot with flat edges",
+    "Lift the small metal sauce container and set it next to the light grey kitchenpot with dark top",
+    "Take the red and orange sauce can to the grey kitchenpot using the left arm",
+    "Take the sauce can with printed design with the left arm, place it near the smooth kitchenpot with black button",
+    "Use the left arm to grab the compact sauce can with plastic lid and move it next to the grey kitchenpot",
+    "Use the left arm to pick the smooth sauce can, position it near the grey kitchenpot",
+    "Lift the small metal sauce container and set it beside the kitchenpot with red indicator light",
+    "Move the red can with orange label beside the kitchenpot with black base after lifting it",
+    "Pick up the metal body sauce can with the left arm and set by the round kitchenpot",
+    "Pick the red can with orange label and position it next to the kitchenpot with sturdy plastic body",
+    "Take the cylindrical sauce can using the left arm, set it next to the kitchenpot with two side handles",
+    "Set the red can with orange label right next to the smooth kitchenpot with black button",
+    "Use the left arm to grab the compact sauce can with plastic lid, move it beside the kitchenpot with black rectangular panel",
+    "Lift the red can with orange label and set it next to the grey kitchenpot with dark circle inside",
+    "Move the smooth sauce can to the kitchenpot with sturdy plastic body with the left arm",
+    "Use the left arm to grab the metal body sauce can and move it beside the kitchenpot with black base",
+    "Lift the small cylindrical sauce can using the left arm and drop it beside the round kitchenpot",
+    "Pick up the sturdy sauce can with glossy finish and put it beside the grey kitchenpot with dark circle inside",
+    "Grab the small cylindrical sauce can and move it close to the kitchenpot with sturdy plastic body",
+    "Lift the metal body sauce can, then place it next to the cylindrical kitchenpot with flat edges",
+    "Move the cylindrical sauce can from its spot to near the smooth kitchenpot with black button",
+    "Pick the small metal sauce container up and carefully position it beside the kitchenpot with black rectangular panel",
+    "Place the red can with orange label beside the kitchenpot with black base after picking it up",
+    "Use the left arm to move the small metal sauce container beside the smooth kitchenpot with black button",
+    "Grab the sauce can with printed design, move it, and place by the matte-finished kitchenpot",
+    "Lift the metal body sauce can using the left arm and position it by the matte-finished kitchenpot",
+    "Using the left arm, lift the red and orange sauce can and place it by the smooth kitchenpot with black button",
+    "Use the left arm to pick the small cylindrical sauce can up and set it beside the kitchenpot with black rectangular panel",
+    "Lift the red and orange sauce can and place it next to the matte-finished kitchenpot",
+    "Move the sauce can with red lid to be next to the grey kitchenpot with dark circle inside",
+    "Use the left arm to grab the small cylindrical sauce can and transfer it near the kitchenpot with two side handles",
+    "Use the left arm to lift the small cylindrical sauce can and place it near the kitchenpot with red indicator light",
+    "Pick the sturdy sauce can with glossy finish with the left arm and relocate it near the smooth kitchenpot with black button",
+    "Use the left arm to lift the sturdy sauce can with glossy finish, then move it next to the kitchenpot with sturdy plastic body",
+    "Grab the metal body sauce can with the left arm and set it near the smooth kitchenpot with black button",
+    "Pick the sturdy sauce can with glossy finish up with the left arm then place near the kitchenpot with red indicator light",
+    "Pick the compact sauce can with plastic lid up and move it next to the grey kitchenpot",
+    "Use the left arm to take the small cylindrical sauce can to the kitchenpot with red indicator light",
+    "Bring the small cylindrical sauce can over and set it near the light grey kitchenpot with dark top",
+    "Grab the red and orange sauce can with the left arm and position it beside the light grey kitchenpot with dark top",
+    "Grab the sauce can with rounded top cap, move it to the cylindrical kitchenpot with flat edges's side",
+    "Place the small metal sauce container next to the smooth kitchenpot with black button",
+    "Grab the small metal sauce container with the left arm and move it close to the grey kitchenpot with dark circle inside",
+    "Take the sauce can with rounded top cap with the left arm, bring it, and set next to the cylindrical kitchenpot with flat edges",
+    "Set the red can with orange label near the smooth kitchenpot with black button after picking it up",
+    "With the left arm, grab the red and orange sauce can and move to the round kitchenpot",
+    "Lift the red and orange sauce can and move it near the kitchenpot with two side handles",
+    "Grab the small metal sauce container, shift it, and place it close to the grey kitchenpot",
+    "Use the left arm to lift the sauce can with rounded top cap and place it next to the round kitchenpot",
+    "Lift the small cylindrical sauce can, place it by the cylindrical kitchenpot with flat edges",
+    "Pick up the small metal sauce container using the left arm, transfer it beside the grey kitchenpot",
+    "Lift the metal body sauce can and set it next to the kitchenpot with sturdy plastic body",
+    "Take the sauce can with red lid to the kitchenpot with black rectangular panel using the left arm",
+    "Take the cylindrical sauce can with the left arm, place it near the smooth kitchenpot with black button",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the smooth kitchenpot with black button",
+    "Use the left arm to pick the sauce can with rounded top cap, position it near the light grey kitchenpot with dark top",
+    "Lift the sauce can with rounded top cap and set it beside the grey kitchenpot",
+    "Move the smooth sauce can beside the grey kitchenpot with dark circle inside after lifting it",
+    "Pick up the small cylindrical sauce can with the left arm and set by the cylindrical kitchenpot with flat edges",
+    "Pick the red and orange sauce can and position it next to the kitchenpot with two side handles",
+    "Take the small cylindrical sauce can using the left arm, set it next to the matte-finished kitchenpot",
+    "Set the red and orange sauce can right next to the grey kitchenpot with dark circle inside",
+    "Use the left arm to grab the red can with orange label, move it beside the kitchenpot with black rectangular panel",
+    "Lift the red and orange sauce can and set it next to the light grey kitchenpot with dark top",
+    "Move the compact sauce can with plastic lid to the matte-finished kitchenpot with the left arm",
+    "Use the left arm to grab the red and orange sauce can and move it beside the light grey kitchenpot with dark top",
+    "Lift the compact sauce can with plastic lid using the left arm and drop it beside the grey kitchenpot with dark circle inside",
+    "Pick up the metal body sauce can and put it beside the round kitchenpot",
+    "Grab the small metal sauce container and move it close to the kitchenpot with sturdy plastic body",
+    "Lift the metal body sauce can, then place it next to the kitchenpot with red indicator light",
+    "Move the sauce can with red lid from its spot to near the grey kitchenpot with dark circle inside",
+    "Pick the cylindrical sauce can up and carefully position it beside the matte-finished kitchenpot",
+    "Place the small metal sauce container beside the kitchenpot with two side handles after picking it up",
+    "Use the left arm to move the metal body sauce can beside the grey kitchenpot",
+    "Grab the small metal sauce container, move it, and place by the grey kitchenpot with dark circle inside",
+    "Lift the sauce can with rounded top cap using the left arm and position it by the kitchenpot with two side handles",
+    "Using the left arm, lift the metal body sauce can and place it by the light grey kitchenpot with dark top",
+    "Use the left arm to pick the sauce can with rounded top cap up and set it beside the kitchenpot with black rectangular panel",
+    "Lift the metal body sauce can and place it next to the grey kitchenpot with dark circle inside",
+    "Move the sturdy sauce can with glossy finish to be next to the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth sauce can and transfer it near the kitchenpot with red indicator light",
+    "Use the left arm to lift the smooth sauce can and place it near the round kitchenpot",
+    "Pick the red and orange sauce can with the left arm and relocate it near the grey kitchenpot with dark circle inside"
+  ],
+  "unseen": [
+    "Grab the red can with white text and place it near the medium kitchenpot",
+    "Pick up the sauce can with round ridged lid and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the red sauce can, move it near the compact kitchenpot with lid-like surface",
+    "Pick up the sauce can with round ridged lid and set it beside the medium kitchenpot",
+    "Grab the red can with white text and set it beside the kitchenpot for cooking food",
+    "Use the left arm to pick up the red sauce can and move it beside the medium kitchenpot",
+    "Grab the red can with white text and move it near the medium kitchenpot",
+    "Lift the sauce can with round ridged lid and set it beside the medium kitchenpot",
+    "Grab the red can with white text and place it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to grab the red can with white text and place it by the kitchenpot for cooking food",
+    "Grab the red can with white text and place it near the compact kitchenpot with lid-like surface",
+    "Pick up the red sauce can and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the red sauce can, move it near the kitchenpot for cooking food",
+    "Pick up the sauce can with round ridged lid and set it beside the kitchenpot for cooking food",
+    "Grab the red can with white text and set it beside the medium kitchenpot",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the kitchenpot for cooking food",
+    "Grab the red can with white text and move it near the medium kitchenpot",
+    "Lift the red can with white text and set it beside the kitchenpot for cooking food",
+    "Grab the red sauce can and place it beside the kitchenpot for cooking food",
+    "Use the left arm to grab the red can with white text and place it by the kitchenpot for cooking food",
+    "Grab the red sauce can and place it near the kitchenpot for cooking food",
+    "Pick up the red sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the red sauce can, move it near the medium kitchenpot",
+    "Pick up the sauce can with round ridged lid and set it beside the medium kitchenpot",
+    "Grab the red can with white text and set it beside the medium kitchenpot",
+    "Use the left arm to pick up the red can with white text and move it beside the kitchenpot for cooking food",
+    "Grab the sauce can with round ridged lid and move it near the medium kitchenpot",
+    "Lift the red sauce can and set it beside the kitchenpot for cooking food",
+    "Grab the sauce can with round ridged lid and place it beside the medium kitchenpot",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the compact kitchenpot with lid-like surface",
+    "Grab the red can with white text and place it near the medium kitchenpot",
+    "Pick up the red can with white text and move it near the medium kitchenpot",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the medium kitchenpot",
+    "Pick up the sauce can with round ridged lid and set it beside the medium kitchenpot",
+    "Grab the red can with white text and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the red sauce can and move it beside the kitchenpot for cooking food",
+    "Grab the red sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Lift the red sauce can and set it beside the medium kitchenpot",
+    "Grab the red can with white text and place it beside the kitchenpot for cooking food",
+    "Use the left arm to grab the red can with white text and place it by the kitchenpot for cooking food",
+    "Grab the red sauce can and place it near the kitchenpot for cooking food",
+    "Pick up the sauce can with round ridged lid and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the red sauce can, move it near the kitchenpot for cooking food",
+    "Pick up the red can with white text and set it beside the kitchenpot for cooking food",
+    "Grab the red sauce can and set it beside the medium kitchenpot",
+    "Use the left arm to pick up the red sauce can and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with round ridged lid and move it near the compact kitchenpot with lid-like surface",
+    "Lift the red can with white text and set it beside the kitchenpot for cooking food",
+    "Grab the red can with white text and place it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to grab the red can with white text and place it by the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with round ridged lid and place it near the compact kitchenpot with lid-like surface",
+    "Pick up the red can with white text and move it near the medium kitchenpot",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the compact kitchenpot with lid-like surface",
+    "Pick up the sauce can with round ridged lid and set it beside the kitchenpot for cooking food",
+    "Grab the red can with white text and set it beside the medium kitchenpot",
+    "Use the left arm to pick up the red sauce can and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the red sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Lift the red can with white text and set it beside the medium kitchenpot",
+    "Grab the red sauce can and place it beside the medium kitchenpot",
+    "Use the left arm to grab the red sauce can and place it by the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with round ridged lid and place it near the kitchenpot for cooking food",
+    "Pick up the red can with white text and move it near the medium kitchenpot",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the kitchenpot for cooking food",
+    "Pick up the red sauce can and set it beside the medium kitchenpot",
+    "Grab the red sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the red sauce can and move it beside the medium kitchenpot",
+    "Grab the red can with white text and move it near the medium kitchenpot",
+    "Lift the sauce can with round ridged lid and set it beside the kitchenpot for cooking food",
+    "Grab the red can with white text and place it beside the medium kitchenpot",
+    "Use the left arm to grab the red sauce can and place it by the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with round ridged lid and place it near the compact kitchenpot with lid-like surface",
+    "Pick up the sauce can with round ridged lid and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the red can with white text, move it near the compact kitchenpot with lid-like surface",
+    "Pick up the red can with white text and set it beside the medium kitchenpot",
+    "Grab the red sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the red can with white text and move it near the compact kitchenpot with lid-like surface",
+    "Lift the red sauce can and set it beside the medium kitchenpot",
+    "Grab the red sauce can and place it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the medium kitchenpot",
+    "Grab the red sauce can and place it near the kitchenpot for cooking food",
+    "Pick up the red sauce can and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the red can with white text, move it near the kitchenpot for cooking food",
+    "Pick up the sauce can with round ridged lid and set it beside the kitchenpot for cooking food",
+    "Grab the red can with white text and set it beside the medium kitchenpot",
+    "Use the left arm to pick up the red sauce can and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the red sauce can and move it near the medium kitchenpot",
+    "Lift the red sauce can and set it beside the kitchenpot for cooking food",
+    "Grab the red sauce can and place it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to grab the red can with white text and place it by the medium kitchenpot",
+    "Grab the red can with white text and place it near the medium kitchenpot",
+    "Pick up the sauce can with round ridged lid and move it near the medium kitchenpot",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the compact kitchenpot with lid-like surface",
+    "Pick up the red can with white text and set it beside the medium kitchenpot",
+    "Grab the sauce can with round ridged lid and set it beside the medium kitchenpot",
+    "Use the left arm to pick up the red can with white text and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with round ridged lid and move it near the medium kitchenpot",
+    "Lift the red can with white text and set it beside the medium kitchenpot",
+    "Grab the red sauce can and place it beside the medium kitchenpot",
+    "Use the left arm to grab the red sauce can and place it by the compact kitchenpot with lid-like surface"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001047.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the sauce can with glossy finish and move it next to the teal pot for boiling and cooking",
+    "Take the sauce can using the right arm, set it next to the smooth teal kitchenpot for stovetop use",
+    "Use the right arm to pick the sauce can with glossy finish, position it near the round teal cooking pot with matte texture",
+    "Lift the brown and yellow cylindrical sauce can and place it next to the cooking pot with two blue handles",
+    "Use the right arm to grab the rounded-edge sauce can and transfer it near the medium teal blue kitchenpot with handles",
+    "Pick the white plastic lid sauce can with the right arm and relocate it near the smooth teal kitchenpot for stovetop use",
+    "Use the right arm to lift the round sauce can with yellow pattern and place it near the teal pot for boiling and cooking",
+    "Move the medium sauce can with white lid to the kitchenpot with two sturdy blue handles with the right arm",
+    "Grab the sauce can with the right arm and move it close to the blue cylinder pot with smooth lid",
+    "Lift the sauce can using the right arm and drop it beside the medium teal blue kitchenpot with handles",
+    "Lift the brown and yellow cylindrical sauce can, then place it next to the cooking pot with two blue handles",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the kitchenpot with two sturdy blue handles",
+    "Pick the round sauce can with yellow pattern up and move it next to the cooking pot with two blue handles",
+    "Use the right arm to take the round sauce can with yellow pattern to the teal pot for boiling and cooking",
+    "Lift the cylindrical sauce can and set it beside the teal pot for boiling and cooking",
+    "Lift the yellow brown sauce can and set it next to the medium-sized teal blue cooking pot",
+    "Take the cylindrical sauce can to the medium-sized teal blue cooking pot using the right arm",
+    "Using the right arm, lift the yellow brown sauce can and place it by the smooth teal kitchenpot for stovetop use",
+    "Lift the rounded-edge sauce can using the right arm and position it by the round kitchenpot with two side grips",
+    "Pick up the sauce can with sealed top with the right arm and set by the kitchenpot with flat lid and knob",
+    "Grab the hand-sized sauce can and move it close to the round kitchenpot with two side grips",
+    "Pick up the round sauce can with yellow pattern using the right arm, transfer it beside the medium teal blue kitchenpot with handles",
+    "With the right arm, grab the brown and yellow cylindrical sauce can and move to the blue cylinder pot with smooth lid",
+    "Take the cylindrical sauce can with the right arm, place it near the teal pot for boiling and cooking",
+    "Use the right arm to lift the medium sauce can with white lid, then move it next to the kitchenpot with two sturdy blue handles",
+    "Use the right arm to lift the hand-sized sauce can and place it next to the teal pot for boiling and cooking",
+    "Grab the hand-sized sauce can with the right arm and set it near the round kitchenpot with two side grips",
+    "Pick the round sauce can with yellow pattern up and carefully position it beside the kitchenpot with two sturdy blue handles",
+    "Use the right arm to pick the cylindrical sauce can up and set it beside the kitchenpot with two sturdy blue handles",
+    "Place the round sauce can with yellow pattern next to the kitchenpot with two sturdy blue handles",
+    "Grab the brown and yellow cylindrical sauce can, move it to the smooth teal kitchenpot for stovetop use's side",
+    "Set the white plastic lid sauce can near the kitchenpot with flat lid and knob after picking it up",
+    "Move the sauce can with glossy finish to be next to the smooth teal kitchenpot for stovetop use",
+    "Grab the hand-sized sauce can, shift it, and place it close to the blue cylinder pot with smooth lid",
+    "Place the brown and yellow cylindrical sauce can beside the blue cylinder pot with smooth lid after picking it up",
+    "Lift the hand-sized sauce can, place it by the kitchenpot with flat lid and knob",
+    "Grab the rounded-edge sauce can with the right arm and position it beside the round kitchenpot with two side grips",
+    "Move the sauce can beside the round teal cooking pot with matte texture after lifting it",
+    "Pick the plastic lid sauce can and position it next to the blue cylinder pot with smooth lid",
+    "Use the right arm to grab the plastic lid sauce can, move it beside the round kitchenpot with two side grips",
+    "Take the brown and yellow cylindrical sauce can with the right arm, bring it, and set next to the smooth teal kitchenpot for stovetop use",
+    "Use the right arm to grab the cylindrical sauce can and move it beside the medium-sized teal blue cooking pot",
+    "Use the right arm to move the sauce can with sealed top beside the cooking pot with two blue handles",
+    "Bring the yellow brown sauce can over and set it near the smooth teal kitchenpot for stovetop use",
+    "Lift the plastic lid sauce can and move it near the cooking pot with two blue handles",
+    "Set the sauce can with sealed top right next to the blue cylinder pot with smooth lid",
+    "Move the sauce can with glossy finish from its spot to near the medium teal blue kitchenpot with handles",
+    "Pick the round sauce can with yellow pattern up with the right arm then place near the cooking pot with two blue handles",
+    "Grab the medium sauce can with white lid, move it, and place by the kitchenpot with two sturdy blue handles",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the kitchenpot with flat lid and knob",
+    "Use the right arm to grab the sauce can and move it next to the blue cylinder pot with smooth lid",
+    "Take the plastic lid sauce can using the right arm, set it next to the medium teal-colored pot with flat lid",
+    "Use the right arm to pick the sauce can, position it near the teal pot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern and place it next to the smooth teal kitchenpot for stovetop use",
+    "Use the right arm to grab the hand-sized sauce can and transfer it near the round kitchenpot with two side grips",
+    "Pick the sauce can with the right arm and relocate it near the cooking pot with two blue handles",
+    "Use the right arm to lift the yellow brown sauce can and place it near the medium teal-colored pot with flat lid",
+    "Move the round sauce can with yellow pattern to the round kitchenpot with two side grips with the right arm",
+    "Grab the white plastic lid sauce can with the right arm and move it close to the smooth teal kitchenpot for stovetop use",
+    "Lift the plastic lid sauce can using the right arm and drop it beside the medium teal-colored pot with flat lid",
+    "Lift the sauce can with sealed top, then place it next to the blue cylinder pot with smooth lid",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the blue cylinder pot with smooth lid",
+    "Pick the rounded-edge sauce can up and move it next to the blue kitchenpot with smooth matte sides",
+    "Use the right arm to take the sauce can to the medium-sized teal blue cooking pot",
+    "Lift the yellow brown sauce can and set it beside the smooth teal kitchenpot for stovetop use",
+    "Lift the yellow brown sauce can and set it next to the blue cylinder pot with smooth lid",
+    "Take the medium sauce can with white lid to the blue cylinder pot with smooth lid using the right arm",
+    "Using the right arm, lift the hand-sized sauce can and place it by the round kitchenpot with two side grips",
+    "Lift the sauce can using the right arm and position it by the kitchenpot with two sturdy blue handles",
+    "Pick up the hand-sized sauce can with the right arm and set by the kitchenpot with two sturdy blue handles",
+    "Grab the cylindrical sauce can and move it close to the medium teal blue kitchenpot with handles",
+    "Pick up the white plastic lid sauce can using the right arm, transfer it beside the medium-sized teal blue cooking pot",
+    "With the right arm, grab the hand-sized sauce can and move to the smooth teal kitchenpot for stovetop use",
+    "Take the sauce can with the right arm, place it near the medium teal-colored pot with flat lid",
+    "Use the right arm to lift the rounded-edge sauce can, then move it next to the kitchenpot with two sturdy blue handles",
+    "Use the right arm to lift the cylindrical sauce can and place it next to the medium teal blue kitchenpot with handles",
+    "Grab the brown and yellow cylindrical sauce can with the right arm and set it near the smooth teal kitchenpot for stovetop use",
+    "Pick the sauce can up and carefully position it beside the kitchenpot with two sturdy blue handles",
+    "Use the right arm to pick the brown and yellow cylindrical sauce can up and set it beside the smooth teal kitchenpot for stovetop use",
+    "Place the sauce can next to the round teal cooking pot with matte texture",
+    "Grab the sauce can, move it to the round kitchenpot with two side grips's side",
+    "Set the rounded-edge sauce can near the kitchenpot with flat lid and knob after picking it up",
+    "Move the hand-sized sauce can to be next to the round kitchenpot with two side grips",
+    "Grab the cylindrical sauce can, shift it, and place it close to the medium teal-colored pot with flat lid",
+    "Place the medium sauce can with white lid beside the round kitchenpot with two side grips after picking it up",
+    "Lift the sauce can with sealed top, place it by the round kitchenpot with two side grips",
+    "Grab the hand-sized sauce can with the right arm and position it beside the medium teal blue kitchenpot with handles",
+    "Move the brown and yellow cylindrical sauce can beside the teal pot for boiling and cooking after lifting it",
+    "Pick the brown and yellow cylindrical sauce can and position it next to the round teal cooking pot with matte texture",
+    "Use the right arm to grab the sauce can with sealed top, move it beside the blue cylinder pot with smooth lid",
+    "Take the round sauce can with yellow pattern with the right arm, bring it, and set next to the medium teal-colored pot with flat lid",
+    "Use the right arm to grab the hand-sized sauce can and move it beside the kitchenpot with two sturdy blue handles",
+    "Use the right arm to move the hand-sized sauce can beside the round teal cooking pot with matte texture",
+    "Bring the round sauce can with yellow pattern over and set it near the kitchenpot with flat lid and knob",
+    "Lift the plastic lid sauce can and move it near the cooking pot with two blue handles",
+    "Set the medium sauce can with white lid right next to the medium teal-colored pot with flat lid",
+    "Move the rounded-edge sauce can from its spot to near the medium teal-colored pot with flat lid",
+    "Pick the yellow brown sauce can up with the right arm then place near the cooking pot with two blue handles",
+    "Grab the round sauce can with yellow pattern, move it, and place by the medium teal-colored pot with flat lid",
+    "Pick up the sauce can with glossy finish and put it beside the kitchenpot with two sturdy blue handles"
+  ],
+  "unseen": [
+    "Grab the smooth sauce can and place it beside the blue kitchenpot",
+    "Use the right arm to grab the yellow label on sauce can and place it by the teal blue cooking pot",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the teal blue cooking pot",
+    "Lift the brown sauce can with top lid and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the smooth sauce can, move it near the blue kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Grab the yellow label on sauce can and place it near the blue pot with cylindrical body and lid",
+    "Pick up the yellow label on sauce can and set it beside the blue kitchenpot",
+    "Grab the smooth sauce can and move it near the blue kitchenpot",
+    "Pick up the smooth sauce can and move it near the teal blue cooking pot",
+    "Grab the brown sauce can with top lid and place it beside the blue kitchenpot",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the teal blue cooking pot",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the blue pot with cylindrical body and lid",
+    "Lift the smooth sauce can and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the teal blue cooking pot",
+    "Grab the brown sauce can with top lid and set it beside the blue pot with cylindrical body and lid",
+    "Grab the brown sauce can with top lid and place it near the teal blue cooking pot",
+    "Pick up the smooth sauce can and set it beside the blue kitchenpot",
+    "Grab the smooth sauce can and move it near the blue pot with cylindrical body and lid",
+    "Pick up the yellow label on sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the smooth sauce can and place it beside the blue kitchenpot",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the blue kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the teal blue cooking pot",
+    "Grab the smooth sauce can and set it beside the teal blue cooking pot",
+    "Grab the smooth sauce can and place it near the teal blue cooking pot",
+    "Pick up the smooth sauce can and set it beside the blue kitchenpot",
+    "Grab the smooth sauce can and move it near the blue pot with cylindrical body and lid",
+    "Pick up the brown sauce can with top lid and move it near the teal blue cooking pot",
+    "Grab the brown sauce can with top lid and place it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the yellow label on sauce can and place it by the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the blue pot with cylindrical body and lid",
+    "Lift the yellow label on sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the blue pot with cylindrical body and lid",
+    "Grab the smooth sauce can and set it beside the blue kitchenpot",
+    "Grab the yellow label on sauce can and place it near the teal blue cooking pot",
+    "Pick up the smooth sauce can and set it beside the blue kitchenpot",
+    "Grab the yellow label on sauce can and move it near the teal blue cooking pot",
+    "Pick up the smooth sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the brown sauce can with top lid and place it beside the blue kitchenpot",
+    "Use the right arm to grab the yellow label on sauce can and place it by the teal blue cooking pot",
+    "Use the right arm to pick up the smooth sauce can and move it beside the teal blue cooking pot",
+    "Lift the yellow label on sauce can and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the teal blue cooking pot",
+    "Grab the yellow label on sauce can and set it beside the teal blue cooking pot",
+    "Grab the yellow label on sauce can and place it near the blue kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the blue kitchenpot",
+    "Grab the smooth sauce can and move it near the blue kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the smooth sauce can and place it beside the blue kitchenpot",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the blue pot with cylindrical body and lid",
+    "Lift the brown sauce can with top lid and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the smooth sauce can, move it near the teal blue cooking pot",
+    "Grab the yellow label on sauce can and set it beside the teal blue cooking pot",
+    "Grab the brown sauce can with top lid and place it near the teal blue cooking pot",
+    "Pick up the yellow label on sauce can and set it beside the blue kitchenpot",
+    "Grab the yellow label on sauce can and move it near the blue kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the brown sauce can with top lid and place it beside the blue kitchenpot",
+    "Use the right arm to grab the smooth sauce can and place it by the blue kitchenpot",
+    "Use the right arm to pick up the smooth sauce can and move it beside the blue kitchenpot",
+    "Lift the smooth sauce can and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the teal blue cooking pot",
+    "Grab the brown sauce can with top lid and set it beside the teal blue cooking pot",
+    "Grab the smooth sauce can and place it near the blue pot with cylindrical body and lid",
+    "Pick up the brown sauce can with top lid and set it beside the blue kitchenpot",
+    "Grab the smooth sauce can and move it near the teal blue cooking pot",
+    "Pick up the smooth sauce can and move it near the blue kitchenpot",
+    "Grab the smooth sauce can and place it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the smooth sauce can and place it by the blue kitchenpot",
+    "Use the right arm to pick up the smooth sauce can and move it beside the blue pot with cylindrical body and lid",
+    "Lift the brown sauce can with top lid and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the blue pot with cylindrical body and lid",
+    "Grab the brown sauce can with top lid and set it beside the blue pot with cylindrical body and lid",
+    "Grab the smooth sauce can and place it near the blue kitchenpot",
+    "Pick up the smooth sauce can and set it beside the blue kitchenpot",
+    "Grab the yellow label on sauce can and move it near the blue kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the blue pot with cylindrical body and lid",
+    "Grab the yellow label on sauce can and place it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the smooth sauce can and place it by the teal blue cooking pot",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the blue pot with cylindrical body and lid",
+    "Lift the smooth sauce can and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the smooth sauce can, move it near the teal blue cooking pot",
+    "Grab the smooth sauce can and set it beside the blue kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the teal blue cooking pot",
+    "Pick up the smooth sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Grab the smooth sauce can and move it near the blue kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the blue pot with cylindrical body and lid",
+    "Grab the smooth sauce can and place it beside the teal blue cooking pot",
+    "Use the right arm to grab the yellow label on sauce can and place it by the teal blue cooking pot",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the blue pot with cylindrical body and lid",
+    "Lift the brown sauce can with top lid and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the blue pot with cylindrical body and lid",
+    "Grab the brown sauce can with top lid and set it beside the teal blue cooking pot",
+    "Grab the smooth sauce can and place it near the blue pot with cylindrical body and lid",
+    "Pick up the yellow label on sauce can and set it beside the blue kitchenpot",
+    "Grab the smooth sauce can and move it near the teal blue cooking pot",
+    "Pick up the smooth sauce can and move it near the teal blue cooking pot"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001053.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to pick the sauce can with ingredient information up and set it beside the medium gray pot with handles",
+    "Lift the brown top sauce can and set it beside the medium-sized smooth gray cooking pot",
+    "Pick up the medium sauce can and put it beside the medium gray pot with handles",
+    "Pick the printed label sauce can up and carefully position it beside the gray pot for boiling food",
+    "Use the right arm to grab the yellow label sauce can and move it next to the dark gray pot with side handles",
+    "Lift the yellow label sauce can and place it next to the gray kitchenpot",
+    "Use the right arm to lift the medium sauce can and place it near the medium-sized smooth gray cooking pot",
+    "Lift the sauce can for condiments using the right arm and position it by the round pot with dark gray knob",
+    "Grab the smooth cylindrical sauce can, shift it, and place it close to the pot with round lid",
+    "Grab the printed label sauce can, move it to the gray pot for boiling food's side",
+    "Use the right arm to lift the medium sauce can and place it next to the kitchenpot used for cooking meals",
+    "Use the right arm to lift the cylindrical sauce can, then move it next to the dark gray pot with side handles",
+    "Pick up the sauce can for condiments using the right arm, transfer it beside the pot with lid and sturdy handles",
+    "Use the right arm to move the brown sauce can beside the kitchenpot with smooth texture",
+    "Grab the smooth cylindrical sauce can, move it, and place by the pot with lid and sturdy handles",
+    "Pick up the sauce can for condiments with the right arm and set by the kitchenpot with smooth texture",
+    "Using the right arm, lift the brown top sauce can and place it by the kitchenpot used for cooking meals",
+    "Grab the sauce can with brown lid with the right arm and set it near the gray kitchenpot",
+    "Bring the yellow label sauce can over and set it near the round pot with dark gray knob",
+    "Move the cylindrical sauce can to be next to the medium gray pot with handles",
+    "Lift the sauce can for condiments, place it by the dark gray pot with side handles",
+    "Move the yellow label sauce can from its spot to near the gray pot for boiling food",
+    "Take the brown top sauce can with the right arm, bring it, and set next to the pot with round lid",
+    "Grab the brown top sauce can and move it close to the medium-sized smooth gray cooking pot",
+    "Take the sauce can with brown lid using the right arm, set it next to the gray kitchenpot",
+    "Pick the medium sauce can up and move it next to the round pot with dark gray knob",
+    "Use the right arm to grab the sauce can for condiments and transfer it near the round pot with dark gray knob",
+    "Lift the yellow label sauce can and set it next to the dark gray pot with side handles",
+    "Move the printed label sauce can beside the kitchenpot used for cooking meals after lifting it",
+    "Place the yellow label sauce can beside the gray kitchenpot after picking it up",
+    "Take the brown sauce can with the right arm, place it near the medium gray pot with handles",
+    "Pick the medium sauce can and position it next to the medium-sized smooth gray cooking pot",
+    "Pick the sauce can with ingredient information with the right arm and relocate it near the gray pot for boiling food",
+    "Take the brown sauce can to the medium-sized smooth gray cooking pot using the right arm",
+    "Grab the smooth cylindrical sauce can with the right arm and move it close to the medium-sized smooth gray cooking pot",
+    "Grab the brown top sauce can with the right arm and position it beside the dark gray pot with side handles",
+    "Lift the brown sauce can, then place it next to the gray pot for boiling food",
+    "Set the sauce can with brown lid right next to the kitchenpot with smooth texture",
+    "Pick the yellow label sauce can up with the right arm then place near the kitchenpot used for cooking meals",
+    "Move the sauce can with brown lid to the dark gray pot with side handles with the right arm",
+    "Place the yellow label sauce can next to the dark gray pot with side handles",
+    "Use the right arm to take the printed label sauce can to the gray kitchenpot",
+    "Lift the medium sauce can and set it next to the kitchenpot with smooth texture",
+    "Use the right arm to pick the smooth cylindrical sauce can, position it near the kitchenpot used for cooking meals",
+    "Lift the printed label sauce can and move it near the pot with round lid",
+    "Use the right arm to grab the medium sauce can, move it beside the medium-sized smooth gray cooking pot",
+    "Set the sauce can with brown lid near the dark gray pot with side handles after picking it up",
+    "Use the right arm to grab the brown top sauce can and move it beside the pot with lid and sturdy handles",
+    "With the right arm, grab the sauce can for condiments and move to the medium-sized smooth gray cooking pot",
+    "Lift the cylindrical sauce can using the right arm and drop it beside the kitchenpot with smooth texture",
+    "Use the right arm to pick the sauce can for condiments up and set it beside the pot with round lid",
+    "Lift the metal sauce can and set it beside the kitchenpot with smooth texture",
+    "Pick up the metal sauce can and put it beside the rounded pot with metal lid",
+    "Pick the printed label sauce can up and carefully position it beside the medium gray pot with handles",
+    "Use the right arm to grab the sauce can for condiments and move it next to the medium-sized smooth gray cooking pot",
+    "Lift the medium sauce can and place it next to the medium-sized smooth gray cooking pot",
+    "Use the right arm to lift the metal sauce can and place it near the gray kitchenpot",
+    "Lift the yellow label sauce can using the right arm and position it by the pot with lid and sturdy handles",
+    "Grab the brown top sauce can, shift it, and place it close to the dark gray pot with side handles",
+    "Grab the sauce can for condiments, move it to the pot with lid and sturdy handles's side",
+    "Use the right arm to lift the printed label sauce can and place it next to the kitchenpot with smooth texture",
+    "Use the right arm to lift the metal sauce can, then move it next to the metal cooking pot",
+    "Pick up the medium sauce can using the right arm, transfer it beside the rounded pot with metal lid",
+    "Use the right arm to move the metal sauce can beside the pot with lid and sturdy handles",
+    "Grab the cylindrical sauce can, move it, and place by the metal cooking pot",
+    "Pick up the medium sauce can with the right arm and set by the pot with lid and sturdy handles",
+    "Using the right arm, lift the medium sauce can and place it by the round pot with dark gray knob",
+    "Grab the sauce can with brown lid with the right arm and set it near the round pot with dark gray knob",
+    "Bring the yellow and brown sauce can over and set it near the kitchenpot used for cooking meals",
+    "Move the brown top sauce can to be next to the rounded pot with metal lid",
+    "Lift the sauce can with ingredient information, place it by the kitchenpot used for cooking meals",
+    "Move the sauce can with ingredient information from its spot to near the pot with round lid",
+    "Take the printed label sauce can with the right arm, bring it, and set next to the gray kitchenpot",
+    "Grab the yellow and brown sauce can and move it close to the dark gray pot with side handles",
+    "Take the sauce can with ingredient information using the right arm, set it next to the pot with lid and sturdy handles",
+    "Pick the sauce can with ingredient information up and move it next to the metal cooking pot",
+    "Use the right arm to grab the sauce can with ingredient information and transfer it near the medium-sized smooth gray cooking pot",
+    "Lift the printed label sauce can and set it next to the round pot with dark gray knob",
+    "Move the sauce can with ingredient information beside the rounded pot with metal lid after lifting it",
+    "Place the sauce can with brown lid beside the round pot with dark gray knob after picking it up",
+    "Take the brown top sauce can with the right arm, place it near the pot with round lid",
+    "Pick the sauce can with ingredient information and position it next to the rounded pot with metal lid",
+    "Pick the sauce can with brown lid with the right arm and relocate it near the kitchenpot used for cooking meals",
+    "Take the metal sauce can to the rounded pot with metal lid using the right arm",
+    "Grab the sauce can for condiments with the right arm and move it close to the metal cooking pot",
+    "Grab the printed label sauce can with the right arm and position it beside the gray kitchenpot",
+    "Lift the smooth cylindrical sauce can, then place it next to the metal cooking pot",
+    "Set the brown top sauce can right next to the medium gray pot with handles",
+    "Pick the sauce can for condiments up with the right arm then place near the gray kitchenpot",
+    "Move the medium sauce can to the gray kitchenpot with the right arm",
+    "Place the metal sauce can next to the medium gray pot with handles",
+    "Use the right arm to take the medium sauce can to the medium gray pot with handles",
+    "Lift the yellow and brown sauce can and set it next to the gray kitchenpot",
+    "Use the right arm to pick the cylindrical sauce can, position it near the rounded pot with metal lid",
+    "Lift the medium sauce can and move it near the pot with round lid",
+    "Use the right arm to grab the sauce can with ingredient information, move it beside the metal cooking pot",
+    "Set the sauce can with brown lid near the gray kitchenpot after picking it up",
+    "Use the right arm to grab the yellow label sauce can and move it beside the round pot with dark gray knob",
+    "With the right arm, grab the smooth cylindrical sauce can and move to the dark gray pot with side handles",
+    "Lift the cylindrical sauce can using the right arm and drop it beside the pot with lid and sturdy handles"
+  ],
+  "unseen": [
+    "Use the right arm to pick up the metal body sauce can and move it beside the cylindrical kitchenpot for cooking",
+    "Grab the sauce can with smooth surface and place it near the smooth gray pot with matte finish",
+    "Grab the metal body sauce can and move it near the metal pot with curved handles",
+    "Grab the sauce can with smooth surface and set it beside the cylindrical kitchenpot for cooking",
+    "Use the right arm to grab the metal body sauce can and place it by the metal pot with curved handles",
+    "Grab the sauce can with smooth surface and place it beside the smooth gray pot with matte finish",
+    "Pick up the hand-sized sauce can and move it near the smooth gray pot with matte finish",
+    "Lift the metal body sauce can and set it beside the metal pot with curved handles",
+    "Pick up the sauce can with smooth surface and set it beside the metal pot with curved handles",
+    "Use the right arm to pick up the metal body sauce can, move it near the metal pot with curved handles",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the cylindrical kitchenpot for cooking",
+    "Grab the hand-sized sauce can and place it near the smooth gray pot with matte finish",
+    "Grab the metal body sauce can and move it near the smooth gray pot with matte finish",
+    "Grab the sauce can with smooth surface and set it beside the cylindrical kitchenpot for cooking",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the smooth gray pot with matte finish",
+    "Grab the hand-sized sauce can and place it beside the smooth gray pot with matte finish",
+    "Pick up the metal body sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Lift the hand-sized sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the hand-sized sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the smooth gray pot with matte finish",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the smooth gray pot with matte finish",
+    "Grab the sauce can with smooth surface and place it near the smooth gray pot with matte finish",
+    "Grab the hand-sized sauce can and move it near the metal pot with curved handles",
+    "Grab the sauce can with smooth surface and set it beside the cylindrical kitchenpot for cooking",
+    "Use the right arm to grab the hand-sized sauce can and place it by the metal pot with curved handles",
+    "Grab the hand-sized sauce can and place it beside the smooth gray pot with matte finish",
+    "Pick up the hand-sized sauce can and move it near the smooth gray pot with matte finish",
+    "Lift the sauce can with smooth surface and set it beside the metal pot with curved handles",
+    "Pick up the hand-sized sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the metal pot with curved handles",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the metal pot with curved handles",
+    "Grab the hand-sized sauce can and place it near the metal pot with curved handles",
+    "Grab the hand-sized sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Grab the metal body sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Use the right arm to grab the metal body sauce can and place it by the cylindrical kitchenpot for cooking",
+    "Grab the sauce can with smooth surface and place it beside the cylindrical kitchenpot for cooking",
+    "Pick up the hand-sized sauce can and move it near the smooth gray pot with matte finish",
+    "Lift the hand-sized sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the metal body sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the smooth gray pot with matte finish",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the cylindrical kitchenpot for cooking",
+    "Grab the metal body sauce can and place it near the smooth gray pot with matte finish",
+    "Grab the sauce can with smooth surface and move it near the cylindrical kitchenpot for cooking",
+    "Grab the sauce can with smooth surface and set it beside the smooth gray pot with matte finish",
+    "Use the right arm to grab the metal body sauce can and place it by the smooth gray pot with matte finish",
+    "Grab the sauce can with smooth surface and place it beside the cylindrical kitchenpot for cooking",
+    "Pick up the hand-sized sauce can and move it near the smooth gray pot with matte finish",
+    "Lift the metal body sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the sauce can with smooth surface and set it beside the cylindrical kitchenpot for cooking",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the smooth gray pot with matte finish",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the metal pot with curved handles",
+    "Grab the sauce can with smooth surface and place it near the metal pot with curved handles",
+    "Grab the hand-sized sauce can and move it near the smooth gray pot with matte finish",
+    "Grab the hand-sized sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the smooth gray pot with matte finish",
+    "Grab the hand-sized sauce can and place it beside the cylindrical kitchenpot for cooking",
+    "Pick up the sauce can with smooth surface and move it near the metal pot with curved handles",
+    "Lift the sauce can with smooth surface and set it beside the smooth gray pot with matte finish",
+    "Pick up the sauce can with smooth surface and set it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the metal body sauce can, move it near the cylindrical kitchenpot for cooking",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the smooth gray pot with matte finish",
+    "Grab the metal body sauce can and place it near the smooth gray pot with matte finish",
+    "Grab the sauce can with smooth surface and move it near the cylindrical kitchenpot for cooking",
+    "Grab the hand-sized sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the right arm to grab the metal body sauce can and place it by the cylindrical kitchenpot for cooking",
+    "Grab the hand-sized sauce can and place it beside the smooth gray pot with matte finish",
+    "Pick up the sauce can with smooth surface and move it near the smooth gray pot with matte finish",
+    "Lift the metal body sauce can and set it beside the smooth gray pot with matte finish",
+    "Pick up the metal body sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the smooth gray pot with matte finish",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the metal pot with curved handles",
+    "Grab the metal body sauce can and place it near the metal pot with curved handles",
+    "Grab the sauce can with smooth surface and move it near the metal pot with curved handles",
+    "Grab the hand-sized sauce can and set it beside the metal pot with curved handles",
+    "Use the right arm to grab the metal body sauce can and place it by the smooth gray pot with matte finish",
+    "Grab the hand-sized sauce can and place it beside the metal pot with curved handles",
+    "Pick up the hand-sized sauce can and move it near the metal pot with curved handles",
+    "Lift the hand-sized sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the metal body sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the cylindrical kitchenpot for cooking",
+    "Use the right arm to pick up the metal body sauce can and move it beside the cylindrical kitchenpot for cooking",
+    "Grab the metal body sauce can and place it near the metal pot with curved handles",
+    "Grab the metal body sauce can and move it near the metal pot with curved handles",
+    "Grab the metal body sauce can and set it beside the metal pot with curved handles",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the cylindrical kitchenpot for cooking",
+    "Grab the metal body sauce can and place it beside the cylindrical kitchenpot for cooking",
+    "Pick up the metal body sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Lift the metal body sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the hand-sized sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the cylindrical kitchenpot for cooking",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the metal pot with curved handles",
+    "Grab the sauce can with smooth surface and place it near the smooth gray pot with matte finish",
+    "Grab the sauce can with smooth surface and move it near the smooth gray pot with matte finish",
+    "Grab the hand-sized sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the right arm to grab the hand-sized sauce can and place it by the smooth gray pot with matte finish",
+    "Grab the metal body sauce can and place it beside the metal pot with curved handles",
+    "Pick up the metal body sauce can and move it near the metal pot with curved handles",
+    "Lift the metal body sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the sauce can with smooth surface and set it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the cylindrical kitchenpot for cooking"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001054.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the sturdy sauce can with glossy finish with the left arm, place it near the round kitchenpot with two side grips",
+    "Pick the sauce can with rounded top cap with the left arm and relocate it near the cooking pot with two blue handles",
+    "Move the sauce can with printed design to the blue cylinder pot with smooth lid with the left arm",
+    "Lift the compact sauce can with plastic lid, then place it next to the kitchenpot with flat lid and knob",
+    "Place the red and orange sauce can beside the blue cylinder pot with smooth lid after picking it up",
+    "Bring the sauce can with red lid over and set it near the kitchenpot with flat lid and knob",
+    "Lift the small cylindrical sauce can using the left arm and drop it beside the round kitchenpot with two side grips",
+    "Move the red and orange sauce can to be next to the round kitchenpot with two side grips",
+    "Use the left arm to grab the compact sauce can with plastic lid and move it beside the round teal cooking pot with matte texture",
+    "Grab the small metal sauce container with the left arm and position it beside the medium teal blue kitchenpot with handles",
+    "Set the metal body sauce can near the kitchenpot with two sturdy blue handles after picking it up",
+    "Take the red and orange sauce can with the left arm, bring it, and set next to the medium teal blue kitchenpot with handles",
+    "Take the smooth sauce can to the kitchenpot with flat lid and knob using the left arm",
+    "Use the left arm to pick the sauce can with rounded top cap, position it near the blue cylinder pot with smooth lid",
+    "Grab the metal body sauce can, move it to the round kitchenpot with two side grips's side",
+    "Take the sauce can with printed design using the left arm, set it next to the kitchenpot with two sturdy blue handles",
+    "Lift the small metal sauce container and set it next to the round teal cooking pot with matte texture",
+    "Grab the red and orange sauce can with the left arm and move it close to the medium teal blue kitchenpot with handles",
+    "Use the left arm to lift the sauce can with red lid and place it next to the round teal cooking pot with matte texture",
+    "Grab the sauce can with red lid with the left arm and set it near the round kitchenpot with two side grips",
+    "Use the left arm to take the metal body sauce can to the medium teal blue kitchenpot with handles",
+    "Pick up the sauce can with printed design using the left arm, transfer it beside the smooth teal kitchenpot for stovetop use",
+    "Pick the sturdy sauce can with glossy finish and position it next to the cooking pot with two blue handles",
+    "Lift the compact sauce can with plastic lid and set it beside the medium teal-colored pot with flat lid",
+    "Grab the metal body sauce can and move it close to the blue cylinder pot with smooth lid",
+    "Use the left arm to lift the sturdy sauce can with glossy finish and place it near the kitchenpot with two sturdy blue handles",
+    "Pick the smooth sauce can up and move it next to the kitchenpot with flat lid and knob",
+    "Grab the sauce can with printed design, shift it, and place it close to the blue kitchenpot with smooth matte sides",
+    "Lift the metal body sauce can and move it near the round kitchenpot with two side grips",
+    "Pick up the smooth sauce can with the left arm and set by the medium teal-colored pot with flat lid",
+    "Lift the sauce can with red lid using the left arm and position it by the smooth teal kitchenpot for stovetop use",
+    "Use the left arm to move the sauce can with printed design beside the smooth teal kitchenpot for stovetop use",
+    "With the left arm, grab the cylindrical sauce can and move to the blue kitchenpot with smooth matte sides",
+    "Use the left arm to grab the sturdy sauce can with glossy finish and transfer it near the teal pot for boiling and cooking",
+    "Pick the small metal sauce container up with the left arm then place near the round kitchenpot with two side grips",
+    "Set the metal body sauce can right next to the medium-sized teal blue cooking pot",
+    "Move the sauce can with rounded top cap beside the cooking pot with two blue handles after lifting it",
+    "Use the left arm to pick the red and orange sauce can up and set it beside the cooking pot with two blue handles",
+    "Using the left arm, lift the smooth sauce can and place it by the cooking pot with two blue handles",
+    "Use the left arm to grab the smooth sauce can and move it next to the blue kitchenpot with smooth matte sides",
+    "Place the sauce can with printed design next to the blue kitchenpot with smooth matte sides",
+    "Lift the smooth sauce can and place it next to the medium teal-colored pot with flat lid",
+    "Lift the metal body sauce can, place it by the blue kitchenpot with smooth matte sides",
+    "Grab the red can with orange label, move it, and place by the blue kitchenpot with smooth matte sides",
+    "Move the small metal sauce container from its spot to near the kitchenpot with flat lid and knob",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the medium teal blue kitchenpot with handles",
+    "Use the left arm to lift the sauce can with red lid, then move it next to the kitchenpot with flat lid and knob",
+    "Lift the small cylindrical sauce can and set it next to the cooking pot with two blue handles",
+    "Pick the metal body sauce can up and carefully position it beside the blue cylinder pot with smooth lid",
+    "Pick up the red can with orange label and put it beside the round teal cooking pot with matte texture",
+    "Take the red can with orange label with the left arm, place it near the cooking pot with two blue handles",
+    "Pick the red and orange sauce can with the left arm and relocate it near the kitchenpot with two sturdy blue handles",
+    "Move the smooth sauce can to the round kitchenpot with two side grips with the left arm",
+    "Lift the sauce can with printed design, then place it next to the medium teal-colored pot with flat lid",
+    "Place the sturdy sauce can with glossy finish beside the blue kitchenpot with smooth matte sides after picking it up",
+    "Bring the sauce can with rounded top cap over and set it near the round teal cooking pot with matte texture",
+    "Lift the sauce can with printed design using the left arm and drop it beside the cooking pot with two blue handles",
+    "Move the sauce can with red lid to be next to the blue cylinder pot with smooth lid",
+    "Use the left arm to grab the red and orange sauce can and move it beside the medium teal blue kitchenpot with handles",
+    "Grab the small cylindrical sauce can with the left arm and position it beside the kitchenpot with two sturdy blue handles",
+    "Set the small metal sauce container near the smooth teal kitchenpot for stovetop use after picking it up",
+    "Take the metal body sauce can with the left arm, bring it, and set next to the medium-sized teal blue cooking pot",
+    "Take the metal body sauce can to the medium-sized teal blue cooking pot using the left arm",
+    "Use the left arm to pick the sturdy sauce can with glossy finish, position it near the medium-sized teal blue cooking pot",
+    "Grab the sauce can with printed design, move it to the medium teal blue kitchenpot with handles's side",
+    "Take the cylindrical sauce can using the left arm, set it next to the cooking pot with two blue handles",
+    "Lift the sauce can with rounded top cap and set it next to the blue cylinder pot with smooth lid",
+    "Grab the sauce can with printed design with the left arm and move it close to the smooth teal kitchenpot for stovetop use",
+    "Use the left arm to lift the small metal sauce container and place it next to the smooth teal kitchenpot for stovetop use",
+    "Grab the red and orange sauce can with the left arm and set it near the blue kitchenpot with smooth matte sides",
+    "Use the left arm to take the red and orange sauce can to the kitchenpot with two sturdy blue handles",
+    "Pick up the compact sauce can with plastic lid using the left arm, transfer it beside the blue cylinder pot with smooth lid",
+    "Pick the metal body sauce can and position it next to the cooking pot with two blue handles",
+    "Lift the sauce can with red lid and set it beside the cooking pot with two blue handles",
+    "Grab the sauce can with red lid and move it close to the round kitchenpot with two side grips",
+    "Use the left arm to lift the sturdy sauce can with glossy finish and place it near the medium teal-colored pot with flat lid",
+    "Pick the red can with orange label up and move it next to the medium teal-colored pot with flat lid",
+    "Grab the metal body sauce can, shift it, and place it close to the blue cylinder pot with smooth lid",
+    "Lift the red and orange sauce can and move it near the smooth teal kitchenpot for stovetop use",
+    "Pick up the smooth sauce can with the left arm and set by the medium-sized teal blue cooking pot",
+    "Lift the sauce can with rounded top cap using the left arm and position it by the blue kitchenpot with smooth matte sides",
+    "Use the left arm to move the sauce can with red lid beside the medium-sized teal blue cooking pot",
+    "With the left arm, grab the sauce can with rounded top cap and move to the cooking pot with two blue handles",
+    "Use the left arm to grab the sauce can with printed design and transfer it near the kitchenpot with flat lid and knob",
+    "Pick the red can with orange label up with the left arm then place near the teal pot for boiling and cooking",
+    "Set the red can with orange label right next to the cooking pot with two blue handles",
+    "Move the red and orange sauce can beside the cooking pot with two blue handles after lifting it",
+    "Use the left arm to pick the red can with orange label up and set it beside the medium teal-colored pot with flat lid",
+    "Using the left arm, lift the metal body sauce can and place it by the smooth teal kitchenpot for stovetop use",
+    "Use the left arm to grab the small metal sauce container and move it next to the kitchenpot with two sturdy blue handles",
+    "Place the sauce can with printed design next to the kitchenpot with flat lid and knob",
+    "Lift the red can with orange label and place it next to the blue cylinder pot with smooth lid",
+    "Lift the sauce can with red lid, place it by the medium teal-colored pot with flat lid",
+    "Grab the small cylindrical sauce can, move it, and place by the blue cylinder pot with smooth lid",
+    "Move the small metal sauce container from its spot to near the blue kitchenpot with smooth matte sides",
+    "Use the left arm to grab the sauce can with rounded top cap, move it beside the round kitchenpot with two side grips",
+    "Use the left arm to lift the sturdy sauce can with glossy finish, then move it next to the medium teal blue kitchenpot with handles",
+    "Lift the small cylindrical sauce can and set it next to the round teal cooking pot with matte texture",
+    "Pick the metal body sauce can up and carefully position it beside the blue kitchenpot with smooth matte sides",
+    "Pick up the small cylindrical sauce can and put it beside the medium-sized teal blue cooking pot"
+  ],
+  "unseen": [
+    "Lift the red can with white text and set it beside the blue kitchenpot",
+    "Pick up the sauce can with round ridged lid and set it beside the blue pot with cylindrical body and lid",
+    "Pick up the sauce can with round ridged lid and move it near the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and place it beside the teal blue cooking pot",
+    "Use the left arm to pick up the red sauce can, move it near the teal blue cooking pot",
+    "Grab the red can with white text and move it near the teal blue cooking pot",
+    "Use the left arm to grab the red can with white text and place it by the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and place it near the blue kitchenpot",
+    "Use the left arm to pick up the red sauce can and move it beside the blue kitchenpot",
+    "Grab the red can with white text and set it beside the blue kitchenpot",
+    "Lift the red sauce can and set it beside the blue kitchenpot",
+    "Pick up the red sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Pick up the red can with white text and move it near the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and place it beside the teal blue cooking pot",
+    "Use the left arm to pick up the red sauce can, move it near the blue pot with cylindrical body and lid",
+    "Grab the red sauce can and move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to grab the red sauce can and place it by the blue pot with cylindrical body and lid",
+    "Grab the red sauce can and place it near the blue kitchenpot",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the teal blue cooking pot",
+    "Grab the red sauce can and set it beside the blue kitchenpot",
+    "Lift the sauce can with round ridged lid and set it beside the blue kitchenpot",
+    "Pick up the sauce can with round ridged lid and set it beside the blue pot with cylindrical body and lid",
+    "Pick up the red sauce can and move it near the blue kitchenpot",
+    "Grab the red sauce can and place it beside the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the red can with white text, move it near the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to grab the red can with white text and place it by the blue kitchenpot",
+    "Grab the red can with white text and place it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the red sauce can and move it beside the teal blue cooking pot",
+    "Grab the red sauce can and set it beside the blue kitchenpot",
+    "Lift the red can with white text and set it beside the teal blue cooking pot",
+    "Pick up the sauce can with round ridged lid and set it beside the teal blue cooking pot",
+    "Pick up the red can with white text and move it near the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and place it beside the teal blue cooking pot",
+    "Use the left arm to pick up the red sauce can, move it near the blue kitchenpot",
+    "Grab the red sauce can and move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the blue pot with cylindrical body and lid",
+    "Grab the red sauce can and place it near the teal blue cooking pot",
+    "Use the left arm to pick up the red sauce can and move it beside the teal blue cooking pot",
+    "Grab the red can with white text and set it beside the blue kitchenpot",
+    "Lift the red sauce can and set it beside the blue kitchenpot",
+    "Pick up the sauce can with round ridged lid and set it beside the blue kitchenpot",
+    "Pick up the red can with white text and move it near the teal blue cooking pot",
+    "Grab the red can with white text and place it beside the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the teal blue cooking pot",
+    "Grab the red sauce can and move it near the blue kitchenpot",
+    "Use the left arm to grab the red can with white text and place it by the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and place it near the blue kitchenpot",
+    "Use the left arm to pick up the red sauce can and move it beside the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and set it beside the blue pot with cylindrical body and lid",
+    "Lift the red sauce can and set it beside the teal blue cooking pot",
+    "Pick up the red sauce can and set it beside the teal blue cooking pot",
+    "Pick up the sauce can with round ridged lid and move it near the blue kitchenpot",
+    "Grab the red sauce can and place it beside the teal blue cooking pot",
+    "Use the left arm to pick up the red sauce can, move it near the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and move it near the teal blue cooking pot",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and place it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and set it beside the teal blue cooking pot",
+    "Lift the sauce can with round ridged lid and set it beside the blue pot with cylindrical body and lid",
+    "Pick up the red can with white text and set it beside the blue kitchenpot",
+    "Pick up the red sauce can and move it near the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and place it beside the blue kitchenpot",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the blue kitchenpot",
+    "Grab the red sauce can and move it near the teal blue cooking pot",
+    "Use the left arm to grab the red sauce can and place it by the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and place it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the red can with white text and move it beside the blue pot with cylindrical body and lid",
+    "Grab the red sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Lift the red can with white text and set it beside the blue pot with cylindrical body and lid",
+    "Pick up the sauce can with round ridged lid and set it beside the blue pot with cylindrical body and lid",
+    "Pick up the sauce can with round ridged lid and move it near the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and place it beside the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the teal blue cooking pot",
+    "Grab the red sauce can and move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to grab the red sauce can and place it by the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and place it near the teal blue cooking pot",
+    "Use the left arm to pick up the red sauce can and move it beside the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and set it beside the blue pot with cylindrical body and lid",
+    "Lift the red sauce can and set it beside the teal blue cooking pot",
+    "Pick up the red can with white text and set it beside the blue kitchenpot",
+    "Pick up the red sauce can and move it near the teal blue cooking pot",
+    "Grab the red sauce can and place it beside the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the red can with white text, move it near the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to grab the red sauce can and place it by the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and place it near the teal blue cooking pot",
+    "Use the left arm to pick up the red can with white text and move it beside the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and set it beside the teal blue cooking pot",
+    "Lift the red sauce can and set it beside the teal blue cooking pot",
+    "Pick up the red can with white text and set it beside the blue pot with cylindrical body and lid",
+    "Pick up the red can with white text and move it near the blue kitchenpot",
+    "Grab the red sauce can and place it beside the teal blue cooking pot",
+    "Use the left arm to pick up the red can with white text, move it near the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and move it near the teal blue cooking pot",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and place it near the blue kitchenpot",
+    "Use the left arm to pick up the red sauce can and move it beside the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and set it beside the blue pot with cylindrical body and lid"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001056.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the metal body sauce can up and move it next to the pot with round lid",
+    "Use the left arm to lift the smooth sauce can, then move it next to the metal cooking pot",
+    "Lift the sauce can with printed design and place it next to the rounded pot with metal lid",
+    "Lift the sturdy sauce can with glossy finish using the left arm and position it by the gray kitchenpot",
+    "Pick the compact sauce can with plastic lid up and carefully position it beside the dark gray pot with side handles",
+    "Grab the metal body sauce can with the left arm and move it close to the kitchenpot with smooth texture",
+    "Take the sturdy sauce can with glossy finish to the medium gray pot with handles using the left arm",
+    "Grab the cylindrical sauce can, move it, and place by the rounded pot with metal lid",
+    "Bring the red can with orange label over and set it near the gray kitchenpot",
+    "Grab the metal body sauce can, move it to the gray pot for boiling food's side",
+    "Pick up the sturdy sauce can with glossy finish and put it beside the kitchenpot used for cooking meals",
+    "Set the sauce can with rounded top cap near the pot with lid and sturdy handles after picking it up",
+    "Lift the sturdy sauce can with glossy finish, then place it next to the pot with round lid",
+    "Use the left arm to move the metal body sauce can beside the pot with lid and sturdy handles",
+    "Using the left arm, lift the smooth sauce can and place it by the dark gray pot with side handles",
+    "Use the left arm to lift the red can with orange label and place it next to the kitchenpot used for cooking meals",
+    "Use the left arm to grab the small cylindrical sauce can and transfer it near the metal cooking pot",
+    "Use the left arm to take the sauce can with printed design to the pot with round lid",
+    "Pick the sauce can with printed design and position it next to the metal cooking pot",
+    "Pick the small cylindrical sauce can up with the left arm then place near the gray pot for boiling food",
+    "Use the left arm to pick the red and orange sauce can up and set it beside the pot with lid and sturdy handles",
+    "Pick up the small metal sauce container using the left arm, transfer it beside the gray pot for boiling food",
+    "Set the small metal sauce container right next to the medium-sized smooth gray cooking pot",
+    "Place the compact sauce can with plastic lid next to the metal cooking pot",
+    "Place the red and orange sauce can beside the metal cooking pot after picking it up",
+    "Lift the cylindrical sauce can and set it next to the pot with round lid",
+    "With the left arm, grab the smooth sauce can and move to the round pot with dark gray knob",
+    "Use the left arm to lift the cylindrical sauce can and place it near the dark gray pot with side handles",
+    "Use the left arm to pick the small cylindrical sauce can, position it near the medium-sized smooth gray cooking pot",
+    "Lift the sauce can with printed design and set it next to the dark gray pot with side handles",
+    "Lift the red and orange sauce can using the left arm and drop it beside the pot with lid and sturdy handles",
+    "Grab the sturdy sauce can with glossy finish, shift it, and place it close to the dark gray pot with side handles",
+    "Move the metal body sauce can to be next to the round pot with dark gray knob",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the kitchenpot used for cooking meals",
+    "Move the smooth sauce can beside the gray kitchenpot after lifting it",
+    "Take the metal body sauce can with the left arm, bring it, and set next to the rounded pot with metal lid",
+    "Grab the cylindrical sauce can with the left arm and set it near the gray pot for boiling food",
+    "Pick the sauce can with printed design with the left arm and relocate it near the rounded pot with metal lid",
+    "Pick up the sauce can with red lid with the left arm and set by the pot with lid and sturdy handles",
+    "Move the small metal sauce container to the medium-sized smooth gray cooking pot with the left arm",
+    "Use the left arm to grab the red can with orange label, move it beside the rounded pot with metal lid",
+    "Lift the small metal sauce container and set it beside the pot with lid and sturdy handles",
+    "Move the sauce can with rounded top cap from its spot to near the metal cooking pot",
+    "Lift the sauce can with red lid, place it by the gray pot for boiling food",
+    "Take the sauce can with printed design using the left arm, set it next to the gray kitchenpot",
+    "Take the red can with orange label with the left arm, place it near the pot with lid and sturdy handles",
+    "Grab the small cylindrical sauce can with the left arm and position it beside the medium gray pot with handles",
+    "Grab the compact sauce can with plastic lid and move it close to the medium-sized smooth gray cooking pot",
+    "Lift the small cylindrical sauce can and move it near the kitchenpot used for cooking meals",
+    "Use the left arm to grab the red can with orange label and move it next to the gray kitchenpot",
+    "Pick the metal body sauce can up and move it next to the rounded pot with metal lid",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the round pot with dark gray knob",
+    "Lift the smooth sauce can and place it next to the medium-sized smooth gray cooking pot",
+    "Lift the red can with orange label using the left arm and position it by the medium gray pot with handles",
+    "Pick the sauce can with rounded top cap up and carefully position it beside the pot with lid and sturdy handles",
+    "Grab the red and orange sauce can with the left arm and move it close to the dark gray pot with side handles",
+    "Take the red can with orange label to the medium gray pot with handles using the left arm",
+    "Grab the small cylindrical sauce can, move it, and place by the gray kitchenpot",
+    "Bring the sturdy sauce can with glossy finish over and set it near the metal cooking pot",
+    "Grab the red can with orange label, move it to the medium-sized smooth gray cooking pot's side",
+    "Pick up the small cylindrical sauce can and put it beside the round pot with dark gray knob",
+    "Set the sauce can with red lid near the gray kitchenpot after picking it up",
+    "Lift the compact sauce can with plastic lid, then place it next to the rounded pot with metal lid",
+    "Use the left arm to move the cylindrical sauce can beside the metal cooking pot",
+    "Using the left arm, lift the sauce can with red lid and place it by the gray pot for boiling food",
+    "Use the left arm to lift the sauce can with red lid and place it next to the medium-sized smooth gray cooking pot",
+    "Use the left arm to grab the metal body sauce can and transfer it near the round pot with dark gray knob",
+    "Use the left arm to take the compact sauce can with plastic lid to the kitchenpot used for cooking meals",
+    "Pick the small cylindrical sauce can and position it next to the rounded pot with metal lid",
+    "Pick the sauce can with red lid up with the left arm then place near the kitchenpot with smooth texture",
+    "Use the left arm to pick the smooth sauce can up and set it beside the round pot with dark gray knob",
+    "Pick up the red can with orange label using the left arm, transfer it beside the rounded pot with metal lid",
+    "Set the small metal sauce container right next to the dark gray pot with side handles",
+    "Place the sauce can with red lid next to the gray kitchenpot",
+    "Place the red can with orange label beside the pot with lid and sturdy handles after picking it up",
+    "Lift the smooth sauce can and set it next to the medium gray pot with handles",
+    "With the left arm, grab the small cylindrical sauce can and move to the medium gray pot with handles",
+    "Use the left arm to lift the small cylindrical sauce can and place it near the gray pot for boiling food",
+    "Use the left arm to pick the small metal sauce container, position it near the metal cooking pot",
+    "Lift the red and orange sauce can and set it next to the metal cooking pot",
+    "Lift the sturdy sauce can with glossy finish using the left arm and drop it beside the pot with lid and sturdy handles",
+    "Grab the red and orange sauce can, shift it, and place it close to the pot with round lid",
+    "Move the smooth sauce can to be next to the round pot with dark gray knob",
+    "Use the left arm to grab the red can with orange label and move it beside the gray pot for boiling food",
+    "Move the sauce can with red lid beside the pot with round lid after lifting it",
+    "Take the red can with orange label with the left arm, bring it, and set next to the rounded pot with metal lid",
+    "Grab the cylindrical sauce can with the left arm and set it near the kitchenpot used for cooking meals",
+    "Pick the cylindrical sauce can with the left arm and relocate it near the medium-sized smooth gray cooking pot",
+    "Pick up the sauce can with rounded top cap with the left arm and set by the pot with round lid",
+    "Move the small metal sauce container to the gray kitchenpot with the left arm",
+    "Use the left arm to grab the red can with orange label, move it beside the gray pot for boiling food",
+    "Lift the compact sauce can with plastic lid and set it beside the kitchenpot with smooth texture",
+    "Move the small cylindrical sauce can from its spot to near the pot with lid and sturdy handles",
+    "Lift the red can with orange label, place it by the kitchenpot with smooth texture",
+    "Take the red can with orange label using the left arm, set it next to the medium gray pot with handles",
+    "Take the sauce can with rounded top cap with the left arm, place it near the round pot with dark gray knob",
+    "Grab the smooth sauce can with the left arm and position it beside the kitchenpot with smooth texture",
+    "Grab the compact sauce can with plastic lid and move it close to the kitchenpot used for cooking meals",
+    "Lift the red can with orange label and move it near the kitchenpot used for cooking meals",
+    "Use the left arm to grab the metal body sauce can and move it next to the gray kitchenpot"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the metal pot with curved handles",
+    "Grab the red sauce can and place it near the metal pot with curved handles",
+    "Grab the red can with white text and set it beside the metal pot with curved handles",
+    "Pick up the red sauce can and set it beside the smooth gray pot with matte finish",
+    "Lift the red sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the metal pot with curved handles",
+    "Grab the sauce can with round ridged lid and move it near the cylindrical kitchenpot for cooking",
+    "Pick up the red can with white text and move it near the smooth gray pot with matte finish",
+    "Grab the red can with white text and place it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to grab the red sauce can and place it by the metal pot with curved handles",
+    "Use the left arm to pick up the red can with white text and move it beside the smooth gray pot with matte finish",
+    "Grab the red sauce can and place it near the smooth gray pot with matte finish",
+    "Grab the red sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the sauce can with round ridged lid and set it beside the cylindrical kitchenpot for cooking",
+    "Lift the sauce can with round ridged lid and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the cylindrical kitchenpot for cooking",
+    "Grab the sauce can with round ridged lid and move it near the metal pot with curved handles",
+    "Pick up the red sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Grab the sauce can with round ridged lid and place it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to grab the red sauce can and place it by the smooth gray pot with matte finish",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the cylindrical kitchenpot for cooking",
+    "Grab the red can with white text and place it near the smooth gray pot with matte finish",
+    "Grab the sauce can with round ridged lid and set it beside the smooth gray pot with matte finish",
+    "Pick up the red can with white text and set it beside the metal pot with curved handles",
+    "Lift the sauce can with round ridged lid and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to pick up the red can with white text, move it near the metal pot with curved handles",
+    "Grab the red can with white text and move it near the smooth gray pot with matte finish",
+    "Pick up the red can with white text and move it near the smooth gray pot with matte finish",
+    "Grab the sauce can with round ridged lid and place it beside the smooth gray pot with matte finish",
+    "Use the left arm to grab the red sauce can and place it by the metal pot with curved handles",
+    "Use the left arm to pick up the red can with white text and move it beside the smooth gray pot with matte finish",
+    "Grab the red can with white text and place it near the metal pot with curved handles",
+    "Grab the red can with white text and set it beside the smooth gray pot with matte finish",
+    "Pick up the sauce can with round ridged lid and set it beside the smooth gray pot with matte finish",
+    "Lift the red can with white text and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the red can with white text, move it near the cylindrical kitchenpot for cooking",
+    "Grab the red sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Pick up the sauce can with round ridged lid and move it near the metal pot with curved handles",
+    "Grab the red sauce can and place it beside the smooth gray pot with matte finish",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the smooth gray pot with matte finish",
+    "Use the left arm to pick up the red can with white text and move it beside the metal pot with curved handles",
+    "Grab the sauce can with round ridged lid and place it near the metal pot with curved handles",
+    "Grab the red sauce can and set it beside the metal pot with curved handles",
+    "Pick up the red sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Lift the red sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the smooth gray pot with matte finish",
+    "Grab the sauce can with round ridged lid and move it near the metal pot with curved handles",
+    "Pick up the sauce can with round ridged lid and move it near the smooth gray pot with matte finish",
+    "Grab the red sauce can and place it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to grab the red sauce can and place it by the metal pot with curved handles",
+    "Use the left arm to pick up the red sauce can and move it beside the cylindrical kitchenpot for cooking",
+    "Grab the red sauce can and place it near the smooth gray pot with matte finish",
+    "Grab the red sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the red sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Lift the red can with white text and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the red sauce can, move it near the metal pot with curved handles",
+    "Grab the red sauce can and move it near the metal pot with curved handles",
+    "Pick up the red can with white text and move it near the smooth gray pot with matte finish",
+    "Grab the red sauce can and place it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to grab the red sauce can and place it by the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the red can with white text and move it beside the smooth gray pot with matte finish",
+    "Grab the red can with white text and place it near the metal pot with curved handles",
+    "Grab the red can with white text and set it beside the smooth gray pot with matte finish",
+    "Pick up the red sauce can and set it beside the metal pot with curved handles",
+    "Lift the red can with white text and set it beside the metal pot with curved handles",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the metal pot with curved handles",
+    "Grab the sauce can with round ridged lid and move it near the cylindrical kitchenpot for cooking",
+    "Pick up the sauce can with round ridged lid and move it near the smooth gray pot with matte finish",
+    "Grab the sauce can with round ridged lid and place it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the smooth gray pot with matte finish",
+    "Use the left arm to pick up the red can with white text and move it beside the metal pot with curved handles",
+    "Grab the red can with white text and place it near the cylindrical kitchenpot for cooking",
+    "Grab the red sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the red sauce can and set it beside the smooth gray pot with matte finish",
+    "Lift the red sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to pick up the red sauce can, move it near the smooth gray pot with matte finish",
+    "Grab the red can with white text and move it near the smooth gray pot with matte finish",
+    "Pick up the red can with white text and move it near the smooth gray pot with matte finish",
+    "Grab the red sauce can and place it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to grab the red sauce can and place it by the smooth gray pot with matte finish",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the smooth gray pot with matte finish",
+    "Grab the sauce can with round ridged lid and place it near the cylindrical kitchenpot for cooking",
+    "Grab the red sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the red sauce can and set it beside the metal pot with curved handles",
+    "Lift the red can with white text and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the cylindrical kitchenpot for cooking",
+    "Grab the sauce can with round ridged lid and move it near the cylindrical kitchenpot for cooking",
+    "Pick up the sauce can with round ridged lid and move it near the cylindrical kitchenpot for cooking",
+    "Grab the red can with white text and place it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to grab the red can with white text and place it by the smooth gray pot with matte finish",
+    "Use the left arm to pick up the red can with white text and move it beside the smooth gray pot with matte finish",
+    "Grab the sauce can with round ridged lid and place it near the metal pot with curved handles",
+    "Grab the red sauce can and set it beside the smooth gray pot with matte finish",
+    "Pick up the sauce can with round ridged lid and set it beside the cylindrical kitchenpot for cooking",
+    "Lift the red can with white text and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to pick up the red can with white text, move it near the cylindrical kitchenpot for cooking",
+    "Grab the red sauce can and move it near the smooth gray pot with matte finish",
+    "Pick up the sauce can with round ridged lid and move it near the smooth gray pot with matte finish",
+    "Grab the sauce can with round ridged lid and place it beside the metal pot with curved handles",
+    "Use the left arm to grab the red can with white text and place it by the metal pot with curved handles"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001058.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the red sauce can up with the left arm then place near the medium-sized kitchenpot",
+    "Use the left arm to grab the red sauce can, move it beside the metal kitchenpot",
+    "Pick the red cylindrical sauce can up and carefully position it beside the smooth gray kitchenpot",
+    "Move the red cylindrical sauce can to the metal kitchenpot with the left arm",
+    "Lift the sauce can with flat bottom, then place it next to the kitchenpot with smooth exterior",
+    "Use the left arm to grab the medium-sized red sauce can and move it beside the gray kitchenpot",
+    "Pick up the sauce can with flat bottom and put it beside the dark gray stove kitchenpot",
+    "Lift the red plastic sauce can, place it by the kitchenpot for boiling and cooking",
+    "Lift the sauce can with flat top and set it next to the cooking kitchenpot with side grips",
+    "Take the medium-sized red sauce can with the left arm, place it near the metal kitchenpot",
+    "Grab the red sauce can for holding condiments and move it close to the kitchenpot with smooth exterior",
+    "Place the sauce can with flat bottom next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the red and gold sauce can and move it next to the medium-sized kitchenpot",
+    "Use the left arm to lift the red and gold sauce can and place it next to the smooth gray kitchenpot",
+    "Grab the red and gold sauce can with the left arm and position it beside the round kitchenpot with handles",
+    "Take the medium-sized red sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Using the left arm, lift the red sauce can for holding condiments and place it by the gray cylindrical metal kitchenpot",
+    "Pick up the sauce can with flat top with the left arm and set by the cooking kitchenpot with side grips",
+    "Move the smooth sauce can beside the metal kitchenpot after lifting it",
+    "Lift the red can with gold patterns and place it next to the medium-sized kitchenpot",
+    "Pick the red plastic sauce can up and move it next to the cooking kitchenpot with side grips",
+    "Pick the sauce can with white details and position it next to the cooking kitchenpot with side grips",
+    "Use the left arm to lift the red sauce can, then move it next to the cylindrical kitchenpot",
+    "Use the left arm to pick the red and gold sauce can up and set it beside the medium kitchenpot made of metal",
+    "Lift the red plastic sauce can using the left arm and position it by the medium kitchenpot made of metal",
+    "Lift the sauce can with white details and move it near the gray cylindrical metal kitchenpot",
+    "Grab the red sauce can for holding condiments with the left arm and move it close to the medium-sized kitchenpot",
+    "With the left arm, grab the red sauce can and move to the medium kitchenpot made of metal",
+    "Use the left arm to grab the sauce can with flat top and transfer it near the kitchenpot with smooth exterior",
+    "Set the sauce can with white details near the cylindrical kitchenpot after picking it up",
+    "Use the left arm to pick the red sauce can for holding condiments, position it near the kitchenpot with smooth exterior",
+    "Pick the sauce can with flat bottom with the left arm and relocate it near the metal kitchenpot",
+    "Bring the medium-sized red sauce can over and set it near the smooth gray kitchenpot",
+    "Use the left arm to take the medium-sized red sauce can to the gray kitchenpot",
+    "Pick up the sauce can with white details using the left arm, transfer it beside the metal kitchenpot",
+    "Use the left arm to lift the red and gold sauce can and place it near the kitchenpot with smooth exterior",
+    "Take the red sauce can using the left arm, set it next to the cooking kitchenpot with side grips",
+    "Use the left arm to move the red can with gold patterns beside the metal kitchenpot",
+    "Grab the sauce can with flat bottom with the left arm and set it near the metal kitchenpot",
+    "Lift the red and gold sauce can and set it next to the dark gray stove kitchenpot",
+    "Move the sauce can with white details to be next to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with flat top, shift it, and place it close to the cylindrical kitchenpot",
+    "Lift the sauce can with flat bottom using the left arm and drop it beside the cylindrical kitchenpot",
+    "Move the red plastic sauce can from its spot to near the medium kitchenpot made of metal",
+    "Set the medium-sized red sauce can right next to the medium kitchenpot made of metal",
+    "Grab the red can with gold patterns, move it, and place by the cylindrical kitchenpot",
+    "Take the red sauce can to the cooking kitchenpot with side grips using the left arm",
+    "Lift the red sauce can and set it beside the medium kitchenpot made of metal",
+    "Place the sauce can with flat top beside the smooth gray kitchenpot after picking it up",
+    "Grab the red can with gold patterns, move it to the medium-sized kitchenpot's side",
+    "Pick the red plastic sauce can up with the left arm then place near the smooth gray kitchenpot",
+    "Use the left arm to grab the red sauce can for holding condiments, move it beside the medium-sized kitchenpot",
+    "Pick the medium-sized red sauce can up and carefully position it beside the medium kitchenpot made of metal",
+    "Move the sauce can with flat bottom to the gray kitchenpot with the left arm",
+    "Lift the smooth sauce can, then place it next to the medium-sized kitchenpot",
+    "Use the left arm to grab the red and gold sauce can and move it beside the gray kitchenpot",
+    "Pick up the cylindrical sauce can and put it beside the kitchenpot with smooth exterior",
+    "Lift the sauce can with white details, place it by the cooking kitchenpot with side grips",
+    "Lift the red sauce can for holding condiments and set it next to the medium-sized kitchenpot",
+    "Take the red sauce can for holding condiments with the left arm, place it near the medium-sized kitchenpot",
+    "Grab the medium-sized red sauce can and move it close to the cooking kitchenpot with side grips",
+    "Place the sauce can with flat bottom next to the dark gray stove kitchenpot",
+    "Use the left arm to grab the red sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to lift the sauce can with flat top and place it next to the round kitchenpot with handles",
+    "Grab the sauce can with flat top with the left arm and position it beside the cooking kitchenpot with side grips",
+    "Take the cylindrical sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Using the left arm, lift the cylindrical sauce can and place it by the dark gray stove kitchenpot",
+    "Pick up the medium-sized red sauce can with the left arm and set by the kitchenpot for boiling and cooking",
+    "Move the medium-sized red sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Lift the red cylindrical sauce can and place it next to the dark gray stove kitchenpot",
+    "Pick the sauce can with flat top up and move it next to the metal kitchenpot",
+    "Pick the medium-sized red sauce can and position it next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the sauce can with white details, then move it next to the kitchenpot for boiling and cooking",
+    "Use the left arm to pick the sauce can with white details up and set it beside the kitchenpot with smooth exterior",
+    "Lift the red plastic sauce can using the left arm and position it by the smooth gray kitchenpot",
+    "Lift the smooth sauce can and move it near the gray kitchenpot",
+    "Grab the sauce can with flat bottom with the left arm and move it close to the medium kitchenpot made of metal",
+    "With the left arm, grab the red and gold sauce can and move to the cylindrical kitchenpot",
+    "Use the left arm to grab the red plastic sauce can and transfer it near the gray cylindrical metal kitchenpot",
+    "Set the red cylindrical sauce can near the smooth gray kitchenpot after picking it up",
+    "Use the left arm to pick the red can with gold patterns, position it near the kitchenpot for boiling and cooking",
+    "Pick the medium-sized red sauce can with the left arm and relocate it near the smooth gray kitchenpot",
+    "Bring the sauce can with flat bottom over and set it near the gray kitchenpot",
+    "Use the left arm to take the medium-sized red sauce can to the round kitchenpot with handles",
+    "Pick up the red sauce can using the left arm, transfer it beside the round kitchenpot with handles",
+    "Use the left arm to lift the red plastic sauce can and place it near the medium kitchenpot made of metal",
+    "Take the smooth sauce can using the left arm, set it next to the gray kitchenpot",
+    "Use the left arm to move the red plastic sauce can beside the gray kitchenpot",
+    "Grab the sauce can with flat bottom with the left arm and set it near the cooking kitchenpot with side grips",
+    "Lift the red plastic sauce can and set it next to the dark gray stove kitchenpot",
+    "Move the red can with gold patterns to be next to the cylindrical kitchenpot",
+    "Grab the red sauce can for holding condiments, shift it, and place it close to the dark gray stove kitchenpot",
+    "Lift the red and gold sauce can using the left arm and drop it beside the metal kitchenpot",
+    "Move the medium-sized red sauce can from its spot to near the round kitchenpot with handles",
+    "Set the red plastic sauce can right next to the medium kitchenpot made of metal",
+    "Grab the red sauce can, move it, and place by the cooking kitchenpot with side grips",
+    "Take the red sauce can for holding condiments to the dark gray stove kitchenpot using the left arm",
+    "Lift the red and gold sauce can and set it beside the kitchenpot for boiling and cooking",
+    "Place the red sauce can beside the medium-sized kitchenpot after picking it up",
+    "Grab the medium-sized red sauce can, move it to the dark gray stove kitchenpot's side"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the medium sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the sauce can with red lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth cylindrical sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can with red lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the sauce can with red lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth cylindrical sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the sauce can with red lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth cylindrical sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the medium sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the sauce can with red lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the medium sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the medium sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the sauce can with red lid and set it beside the kitchenpot with two side handles",
+    "Grab the sauce can with red lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth cylindrical sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the sauce can with red lid and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the medium sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can with red lid and place it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can with red lid and move it near the kitchenpot with two side handles",
+    "Grab the sauce can with red lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth cylindrical sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the medium sauce can and place it by the gray kitchenpot with rounded edges",
+    "Pick up the medium sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can with red lid and set it beside the kitchenpot with two side handles",
+    "Lift the sauce can with red lid and set it beside the dark gray cooking kitchenpot",
+    "Pick up the smooth cylindrical sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the medium sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth cylindrical sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth cylindrical sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the medium sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the medium sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the smooth cylindrical sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth cylindrical sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the medium sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the sauce can with red lid and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the smooth cylindrical sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the sauce can with red lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with red lid and place it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with red lid and move it near the dark gray cooking kitchenpot",
+    "Grab the medium sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth cylindrical sauce can, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the sauce can with red lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the smooth cylindrical sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the medium sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the medium sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the medium sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the sauce can with red lid and move it beside the kitchenpot with two side handles",
+    "Grab the medium sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with red lid and move it near the kitchenpot with two side handles",
+    "Grab the smooth cylindrical sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the medium sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the medium sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the medium sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth cylindrical sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the sauce can with red lid and set it beside the kitchenpot with two side handles",
+    "Pick up the smooth cylindrical sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth cylindrical sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the medium sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Grab the medium sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the smooth cylindrical sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth cylindrical sauce can, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the medium sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the sauce can with red lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with red lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the smooth cylindrical sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the medium sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the medium sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth cylindrical sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the medium sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the sauce can with red lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth cylindrical sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the left arm to grab the sauce can with red lid and place it by the dark gray cooking kitchenpot",
+    "Pick up the medium sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with red lid and set it beside the dark gray cooking kitchenpot",
+    "Lift the medium sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Pick up the sauce can with red lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the sauce can with red lid and move it beside the kitchenpot with two side handles",
+    "Grab the sauce can with red lid and place it beside the kitchenpot with two side handles",
+    "Grab the sauce can with red lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth cylindrical sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the sauce can with red lid, move it near the kitchenpot with two side handles",
+    "Use the left arm to grab the medium sauce can and place it by the kitchenpot with two side handles",
+    "Pick up the smooth cylindrical sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with red lid and set it beside the kitchenpot with two side handles",
+    "Lift the smooth cylindrical sauce can and set it beside the kitchenpot with two side handles",
+    "Pick up the sauce can with red lid and move it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the medium sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth cylindrical sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can with red lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth cylindrical sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the sauce can with red lid, move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the medium sauce can and place it by the dark gray cooking kitchenpot",
+    "Pick up the sauce can with red lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with red lid and set it beside the kitchenpot with two side handles",
+    "Lift the smooth cylindrical sauce can and set it beside the dark gray cooking kitchenpot",
+    "Pick up the medium sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the medium sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the medium sauce can and place it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can with red lid and move it near the kitchenpot with two side handles",
+    "Grab the medium sauce can and place it near the gray kitchenpot with rounded edges"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001059.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the plastic lid sauce can, move it beside the gray kitchenpot",
+    "Bring the sauce can with glossy finish over and set it near the dark gray stove kitchenpot",
+    "Move the brown and yellow cylindrical sauce can from its spot to near the medium-sized kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the cylindrical kitchenpot",
+    "Move the plastic lid sauce can to be next to the metal kitchenpot",
+    "Using the left arm, lift the yellow brown sauce can and place it by the cylindrical kitchenpot",
+    "Lift the white plastic lid sauce can and move it near the gray cylindrical metal kitchenpot",
+    "Pick up the sauce can with the left arm and set by the smooth gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the metal kitchenpot",
+    "Pick the medium sauce can with white lid up and carefully position it beside the medium kitchenpot made of metal",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the cooking kitchenpot with side grips",
+    "Lift the hand-sized sauce can, then place it next to the kitchenpot with smooth exterior",
+    "Take the hand-sized sauce can to the dark gray stove kitchenpot using the left arm",
+    "Use the left arm to lift the hand-sized sauce can, then move it next to the metal kitchenpot",
+    "Place the hand-sized sauce can next to the round kitchenpot with handles",
+    "Pick up the sauce can and put it beside the gray cylindrical metal kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and transfer it near the medium-sized kitchenpot",
+    "Grab the sauce can, move it to the metal kitchenpot's side",
+    "Lift the sauce can with glossy finish and place it next to the kitchenpot for boiling and cooking",
+    "Grab the sauce can with sealed top, move it, and place by the medium kitchenpot made of metal",
+    "With the left arm, grab the brown and yellow cylindrical sauce can and move to the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with sealed top with the left arm and move it close to the medium-sized kitchenpot",
+    "Use the left arm to lift the medium sauce can with white lid and place it near the cylindrical kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the medium kitchenpot made of metal",
+    "Set the yellow brown sauce can right next to the medium-sized kitchenpot",
+    "Use the left arm to pick the plastic lid sauce can, position it near the kitchenpot with smooth exterior",
+    "Take the hand-sized sauce can using the left arm, set it next to the dark gray stove kitchenpot",
+    "Move the sauce can with sealed top to the cylindrical kitchenpot with the left arm",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can up and set it beside the medium kitchenpot made of metal",
+    "Lift the sauce can with glossy finish and set it beside the cylindrical kitchenpot",
+    "Grab the medium sauce can with white lid and move it close to the metal kitchenpot",
+    "Use the left arm to take the rounded-edge sauce can to the cylindrical kitchenpot",
+    "Lift the sauce can with sealed top and set it next to the kitchenpot with smooth exterior",
+    "Use the left arm to move the brown and yellow cylindrical sauce can beside the gray kitchenpot",
+    "Move the rounded-edge sauce can beside the cooking kitchenpot with side grips after lifting it",
+    "Pick up the sauce can with sealed top using the left arm, transfer it beside the medium kitchenpot made of metal",
+    "Set the brown and yellow cylindrical sauce can near the kitchenpot with smooth exterior after picking it up",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Take the rounded-edge sauce can with the left arm, place it near the medium-sized kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can using the left arm and drop it beside the gray cylindrical metal kitchenpot",
+    "Pick the rounded-edge sauce can up with the left arm then place near the smooth gray kitchenpot",
+    "Pick the sauce can with glossy finish up and move it next to the medium-sized kitchenpot",
+    "Lift the sauce can with glossy finish, place it by the metal kitchenpot",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the cooking kitchenpot with side grips",
+    "Place the yellow brown sauce can beside the medium-sized kitchenpot after picking it up",
+    "Lift the round sauce can with yellow pattern using the left arm and position it by the medium kitchenpot made of metal",
+    "Pick the rounded-edge sauce can and position it next to the smooth gray kitchenpot",
+    "Pick the round sauce can with yellow pattern with the left arm and relocate it near the medium-sized kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can, move it beside the dark gray stove kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Move the hand-sized sauce can from its spot to near the metal kitchenpot",
+    "Use the left arm to grab the yellow brown sauce can and move it next to the kitchenpot with smooth exterior",
+    "Use the left arm to lift the white plastic lid sauce can and place it next to the gray kitchenpot",
+    "Move the hand-sized sauce can to be next to the dark gray stove kitchenpot",
+    "Using the left arm, lift the white plastic lid sauce can and place it by the dark gray stove kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and move it near the gray kitchenpot",
+    "Pick up the sauce can with sealed top with the left arm and set by the cylindrical kitchenpot",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the cooking kitchenpot with side grips",
+    "Pick the yellow brown sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Take the sauce can with the left arm, bring it, and set next to the smooth gray kitchenpot",
+    "Grab the hand-sized sauce can, shift it, and place it close to the medium kitchenpot made of metal",
+    "Lift the round sauce can with yellow pattern, then place it next to the kitchenpot with smooth exterior",
+    "Take the sauce can with glossy finish to the gray kitchenpot using the left arm",
+    "Use the left arm to lift the plastic lid sauce can, then move it next to the gray kitchenpot",
+    "Place the plastic lid sauce can next to the cooking kitchenpot with side grips",
+    "Pick up the sauce can and put it beside the cooking kitchenpot with side grips",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the gray kitchenpot",
+    "Grab the medium sauce can with white lid, move it to the kitchenpot for boiling and cooking's side",
+    "Lift the white plastic lid sauce can and place it next to the cylindrical kitchenpot",
+    "Grab the yellow brown sauce can, move it, and place by the metal kitchenpot",
+    "With the left arm, grab the hand-sized sauce can and move to the medium-sized kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and move it close to the round kitchenpot with handles",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it near the metal kitchenpot",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the kitchenpot for boiling and cooking",
+    "Set the medium sauce can with white lid right next to the round kitchenpot with handles",
+    "Use the left arm to pick the cylindrical sauce can, position it near the gray kitchenpot",
+    "Take the hand-sized sauce can using the left arm, set it next to the gray cylindrical metal kitchenpot",
+    "Move the yellow brown sauce can to the metal kitchenpot with the left arm",
+    "Use the left arm to pick the white plastic lid sauce can up and set it beside the cooking kitchenpot with side grips",
+    "Lift the medium sauce can with white lid and set it beside the metal kitchenpot",
+    "Grab the sauce can and move it close to the medium-sized kitchenpot",
+    "Use the left arm to take the sauce can with glossy finish to the medium kitchenpot made of metal",
+    "Lift the plastic lid sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Use the left arm to move the hand-sized sauce can beside the kitchenpot for boiling and cooking",
+    "Move the sauce can with sealed top beside the kitchenpot with smooth exterior after lifting it",
+    "Pick up the brown and yellow cylindrical sauce can using the left arm, transfer it beside the dark gray stove kitchenpot",
+    "Set the rounded-edge sauce can near the round kitchenpot with handles after picking it up",
+    "Grab the plastic lid sauce can with the left arm and position it beside the smooth gray kitchenpot",
+    "Take the round sauce can with yellow pattern with the left arm, place it near the cooking kitchenpot with side grips",
+    "Lift the sauce can with glossy finish using the left arm and drop it beside the medium kitchenpot made of metal",
+    "Pick the yellow brown sauce can up with the left arm then place near the cooking kitchenpot with side grips",
+    "Pick the white plastic lid sauce can up and move it next to the dark gray stove kitchenpot",
+    "Lift the rounded-edge sauce can, place it by the medium-sized kitchenpot",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the gray cylindrical metal kitchenpot",
+    "Place the sauce can with sealed top beside the dark gray stove kitchenpot after picking it up",
+    "Lift the sauce can with glossy finish using the left arm and position it by the gray cylindrical metal kitchenpot",
+    "Pick the sauce can with glossy finish and position it next to the metal kitchenpot",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the cooking kitchenpot with side grips"
+  ],
+  "unseen": [
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it near the kitchenpot with two side handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001062.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the red plastic sauce can right next to the matte-finished kitchenpot",
+    "Use the right arm to lift the medium-sized red sauce can, then move it next to the light grey kitchenpot with dark top",
+    "Grab the cylindrical sauce can and move it close to the cylindrical kitchenpot with flat edges",
+    "Move the red and gold sauce can to be next to the cylindrical kitchenpot with flat edges",
+    "Move the smooth sauce can beside the kitchenpot with red indicator light after lifting it",
+    "Lift the cylindrical sauce can and set it beside the kitchenpot with sturdy plastic body",
+    "Pick up the red cylindrical sauce can using the right arm, transfer it beside the matte-finished kitchenpot",
+    "Grab the sauce can with flat top with the right arm and position it beside the smooth kitchenpot with black button",
+    "Pick up the medium-sized red sauce can and put it beside the kitchenpot with two side handles",
+    "Take the red sauce can with the right arm, bring it, and set next to the matte-finished kitchenpot",
+    "Use the right arm to move the sauce can with flat bottom beside the kitchenpot with red indicator light",
+    "Use the right arm to lift the cylindrical sauce can and place it near the grey kitchenpot",
+    "Place the sauce can with flat bottom beside the kitchenpot with red indicator light after picking it up",
+    "Bring the cylindrical sauce can over and set it near the grey kitchenpot",
+    "Use the right arm to take the red and gold sauce can to the kitchenpot with two side handles",
+    "Grab the cylindrical sauce can with the right arm and move it close to the round kitchenpot",
+    "Lift the red sauce can using the right arm and position it by the smooth kitchenpot with black button",
+    "Use the right arm to pick the red cylindrical sauce can up and set it beside the grey kitchenpot",
+    "Grab the medium-sized red sauce can, move it to the round kitchenpot's side",
+    "Take the red and gold sauce can with the right arm, place it near the kitchenpot with two side handles",
+    "Use the right arm to grab the red plastic sauce can and transfer it near the smooth kitchenpot with black button",
+    "With the right arm, grab the medium-sized red sauce can and move to the round kitchenpot",
+    "Grab the red plastic sauce can, move it, and place by the light grey kitchenpot with dark top",
+    "Use the right arm to grab the red and gold sauce can and move it beside the cylindrical kitchenpot with flat edges",
+    "Lift the smooth sauce can, place it by the light grey kitchenpot with dark top",
+    "Pick the red sauce can up with the right arm then place near the kitchenpot with sturdy plastic body",
+    "Move the red can with gold patterns from its spot to near the round kitchenpot",
+    "Place the red cylindrical sauce can next to the round kitchenpot",
+    "Grab the red and gold sauce can with the right arm and set it near the grey kitchenpot with dark circle inside",
+    "Take the sauce can with flat top to the cylindrical kitchenpot with flat edges using the right arm",
+    "Pick the red sauce can up and carefully position it beside the round kitchenpot",
+    "Set the cylindrical sauce can near the kitchenpot with red indicator light after picking it up",
+    "Grab the sauce can with white details, shift it, and place it close to the cylindrical kitchenpot with flat edges",
+    "Take the red cylindrical sauce can using the right arm, set it next to the matte-finished kitchenpot",
+    "Lift the red sauce can and set it next to the kitchenpot with two side handles",
+    "Pick the sauce can with flat top and position it next to the grey kitchenpot",
+    "Lift the smooth sauce can using the right arm and drop it beside the smooth kitchenpot with black button",
+    "Pick up the sauce can with flat bottom with the right arm and set by the kitchenpot with two side handles",
+    "Lift the red and gold sauce can and set it next to the kitchenpot with sturdy plastic body",
+    "Use the right arm to pick the medium-sized red sauce can, position it near the kitchenpot with red indicator light",
+    "Use the right arm to grab the red can with gold patterns and move it next to the light grey kitchenpot with dark top",
+    "Pick the red sauce can up and move it next to the matte-finished kitchenpot",
+    "Lift the red plastic sauce can and move it near the grey kitchenpot with dark circle inside",
+    "Pick the sauce can with flat bottom with the right arm and relocate it near the smooth kitchenpot with black button",
+    "Using the right arm, lift the sauce can with flat top and place it by the kitchenpot with sturdy plastic body",
+    "Use the right arm to grab the red can with gold patterns, move it beside the grey kitchenpot",
+    "Move the red can with gold patterns to the kitchenpot with sturdy plastic body with the right arm",
+    "Use the right arm to lift the sauce can with white details and place it next to the matte-finished kitchenpot",
+    "Lift the cylindrical sauce can and place it next to the kitchenpot with black rectangular panel",
+    "Lift the red plastic sauce can, then place it next to the cylindrical kitchenpot with flat edges",
+    "Set the sauce can with white details right next to the cylindrical kitchenpot with flat edges",
+    "Use the right arm to lift the medium-sized red sauce can, then move it next to the cylindrical kitchenpot with flat edges",
+    "Grab the sauce can with flat bottom and move it close to the kitchenpot with sturdy plastic body",
+    "Move the red plastic sauce can to be next to the cylindrical kitchenpot with flat edges",
+    "Move the smooth sauce can beside the smooth kitchenpot with black button after lifting it",
+    "Lift the red and gold sauce can and set it beside the smooth kitchenpot with black button",
+    "Pick up the sauce can with flat bottom using the right arm, transfer it beside the kitchenpot with sturdy plastic body",
+    "Grab the sauce can with white details with the right arm and position it beside the kitchenpot with black rectangular panel",
+    "Pick up the sauce can with white details and put it beside the kitchenpot with two side handles",
+    "Take the red can with gold patterns with the right arm, bring it, and set next to the light grey kitchenpot with dark top",
+    "Use the right arm to move the cylindrical sauce can beside the cylindrical kitchenpot with flat edges",
+    "Use the right arm to lift the sauce can with white details and place it near the kitchenpot with black rectangular panel",
+    "Place the red cylindrical sauce can beside the kitchenpot with sturdy plastic body after picking it up",
+    "Bring the sauce can with flat top over and set it near the grey kitchenpot with dark circle inside",
+    "Use the right arm to take the sauce can with flat top to the cylindrical kitchenpot with flat edges",
+    "Grab the sauce can with flat bottom with the right arm and move it close to the kitchenpot with black rectangular panel",
+    "Lift the red can with gold patterns using the right arm and position it by the cylindrical kitchenpot with flat edges",
+    "Use the right arm to pick the cylindrical sauce can up and set it beside the kitchenpot with black rectangular panel",
+    "Grab the red sauce can, move it to the light grey kitchenpot with dark top's side",
+    "Take the smooth sauce can with the right arm, place it near the smooth kitchenpot with black button",
+    "Use the right arm to grab the medium-sized red sauce can and transfer it near the matte-finished kitchenpot",
+    "With the right arm, grab the medium-sized red sauce can and move to the matte-finished kitchenpot",
+    "Grab the sauce can with flat top, move it, and place by the light grey kitchenpot with dark top",
+    "Use the right arm to grab the sauce can with white details and move it beside the kitchenpot with black base",
+    "Lift the red cylindrical sauce can, place it by the kitchenpot with sturdy plastic body",
+    "Pick the red plastic sauce can up with the right arm then place near the light grey kitchenpot with dark top",
+    "Move the red and gold sauce can from its spot to near the cylindrical kitchenpot with flat edges",
+    "Place the smooth sauce can next to the kitchenpot with black base",
+    "Grab the sauce can with white details with the right arm and set it near the kitchenpot with sturdy plastic body",
+    "Take the sauce can with flat bottom to the smooth kitchenpot with black button using the right arm",
+    "Pick the red sauce can up and carefully position it beside the round kitchenpot",
+    "Set the sauce can with flat bottom near the grey kitchenpot after picking it up",
+    "Grab the red sauce can, shift it, and place it close to the cylindrical kitchenpot with flat edges",
+    "Take the sauce can with flat bottom using the right arm, set it next to the matte-finished kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the matte-finished kitchenpot",
+    "Pick the red cylindrical sauce can and position it next to the matte-finished kitchenpot",
+    "Lift the red sauce can for holding condiments using the right arm and drop it beside the grey kitchenpot with dark circle inside",
+    "Pick up the red sauce can for holding condiments with the right arm and set by the smooth kitchenpot with black button",
+    "Lift the sauce can with white details and set it next to the kitchenpot with red indicator light",
+    "Use the right arm to pick the sauce can with white details, position it near the kitchenpot with black base",
+    "Use the right arm to grab the cylindrical sauce can and move it next to the grey kitchenpot with dark circle inside",
+    "Pick the red cylindrical sauce can up and move it next to the kitchenpot with two side handles",
+    "Lift the smooth sauce can and move it near the grey kitchenpot with dark circle inside",
+    "Pick the red and gold sauce can with the right arm and relocate it near the light grey kitchenpot with dark top",
+    "Using the right arm, lift the red sauce can for holding condiments and place it by the kitchenpot with black base",
+    "Use the right arm to grab the sauce can with flat bottom, move it beside the kitchenpot with red indicator light",
+    "Move the smooth sauce can to the light grey kitchenpot with dark top with the right arm",
+    "Use the right arm to lift the sauce can with flat top and place it next to the kitchenpot with sturdy plastic body",
+    "Lift the smooth sauce can and place it next to the grey kitchenpot",
+    "Lift the red sauce can, then place it next to the kitchenpot with sturdy plastic body"
+  ],
+  "unseen": [
+    "Grab the smooth cylindrical sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Lift the medium sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the smooth cylindrical sauce can, move it near the kitchenpot for cooking food",
+    "Use the right arm to grab the sauce can with red lid and place it by the medium kitchenpot",
+    "Pick up the sauce can with red lid and move it near the medium kitchenpot",
+    "Grab the sauce can with red lid and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with red lid and move it near the kitchenpot for cooking food",
+    "Pick up the sauce can with red lid and set it beside the kitchenpot for cooking food",
+    "Grab the sauce can with red lid and place it beside the medium kitchenpot",
+    "Use the right arm to pick up the sauce can with red lid and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with red lid and place it near the compact kitchenpot with lid-like surface",
+    "Lift the medium sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the sauce can with red lid, move it near the kitchenpot for cooking food",
+    "Use the right arm to grab the smooth cylindrical sauce can and place it by the compact kitchenpot with lid-like surface",
+    "Pick up the sauce can with red lid and move it near the kitchenpot for cooking food",
+    "Grab the sauce can with red lid and set it beside the medium kitchenpot",
+    "Grab the sauce can with red lid and move it near the compact kitchenpot with lid-like surface",
+    "Pick up the sauce can with red lid and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the smooth cylindrical sauce can and place it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the sauce can with red lid and move it beside the kitchenpot for cooking food",
+    "Grab the sauce can with red lid and place it near the compact kitchenpot with lid-like surface",
+    "Lift the sauce can with red lid and set it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the medium sauce can, move it near the kitchenpot for cooking food",
+    "Use the right arm to grab the smooth cylindrical sauce can and place it by the kitchenpot for cooking food",
+    "Pick up the medium sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Grab the medium sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the medium sauce can and move it near the kitchenpot for cooking food",
+    "Pick up the medium sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the medium sauce can and place it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the sauce can with red lid and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the medium sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Lift the sauce can with red lid and set it beside the medium kitchenpot",
+    "Use the right arm to pick up the medium sauce can, move it near the medium kitchenpot",
+    "Use the right arm to grab the smooth cylindrical sauce can and place it by the compact kitchenpot with lid-like surface",
+    "Pick up the smooth cylindrical sauce can and move it near the medium kitchenpot",
+    "Grab the medium sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the smooth cylindrical sauce can and move it near the kitchenpot for cooking food",
+    "Pick up the medium sauce can and set it beside the kitchenpot for cooking food",
+    "Grab the smooth cylindrical sauce can and place it beside the medium kitchenpot",
+    "Use the right arm to pick up the sauce can with red lid and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the medium sauce can and place it near the medium kitchenpot",
+    "Lift the smooth cylindrical sauce can and set it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the smooth cylindrical sauce can, move it near the medium kitchenpot",
+    "Use the right arm to grab the sauce can with red lid and place it by the kitchenpot for cooking food",
+    "Pick up the smooth cylindrical sauce can and move it near the kitchenpot for cooking food",
+    "Grab the medium sauce can and set it beside the kitchenpot for cooking food",
+    "Grab the smooth cylindrical sauce can and move it near the medium kitchenpot",
+    "Pick up the sauce can with red lid and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with red lid and place it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the medium sauce can and move it beside the medium kitchenpot",
+    "Grab the smooth cylindrical sauce can and place it near the medium kitchenpot",
+    "Lift the sauce can with red lid and set it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the smooth cylindrical sauce can, move it near the kitchenpot for cooking food",
+    "Use the right arm to grab the sauce can with red lid and place it by the medium kitchenpot",
+    "Pick up the sauce can with red lid and move it near the compact kitchenpot with lid-like surface",
+    "Grab the smooth cylindrical sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the smooth cylindrical sauce can and move it near the kitchenpot for cooking food",
+    "Pick up the sauce can with red lid and set it beside the kitchenpot for cooking food",
+    "Grab the sauce can with red lid and place it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the smooth cylindrical sauce can and move it beside the medium kitchenpot",
+    "Grab the medium sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Lift the sauce can with red lid and set it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the sauce can with red lid, move it near the kitchenpot for cooking food",
+    "Use the right arm to grab the smooth cylindrical sauce can and place it by the medium kitchenpot",
+    "Pick up the smooth cylindrical sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Grab the medium sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with red lid and move it near the kitchenpot for cooking food",
+    "Pick up the smooth cylindrical sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with red lid and place it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the sauce can with red lid and move it beside the medium kitchenpot",
+    "Grab the smooth cylindrical sauce can and place it near the kitchenpot for cooking food",
+    "Lift the medium sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the medium sauce can, move it near the compact kitchenpot with lid-like surface",
+    "Use the right arm to grab the sauce can with red lid and place it by the kitchenpot for cooking food",
+    "Pick up the medium sauce can and move it near the medium kitchenpot",
+    "Grab the medium sauce can and set it beside the medium kitchenpot",
+    "Grab the smooth cylindrical sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Pick up the medium sauce can and set it beside the kitchenpot for cooking food",
+    "Grab the medium sauce can and place it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the medium sauce can and move it beside the kitchenpot for cooking food",
+    "Grab the smooth cylindrical sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Lift the sauce can with red lid and set it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the smooth cylindrical sauce can, move it near the medium kitchenpot",
+    "Use the right arm to grab the sauce can with red lid and place it by the compact kitchenpot with lid-like surface",
+    "Pick up the smooth cylindrical sauce can and move it near the medium kitchenpot",
+    "Grab the sauce can with red lid and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with red lid and move it near the medium kitchenpot",
+    "Pick up the medium sauce can and set it beside the kitchenpot for cooking food",
+    "Grab the medium sauce can and place it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the smooth cylindrical sauce can and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the smooth cylindrical sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Lift the smooth cylindrical sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the sauce can with red lid, move it near the compact kitchenpot with lid-like surface",
+    "Use the right arm to grab the smooth cylindrical sauce can and place it by the medium kitchenpot",
+    "Pick up the medium sauce can and move it near the medium kitchenpot",
+    "Grab the smooth cylindrical sauce can and set it beside the medium kitchenpot",
+    "Grab the smooth cylindrical sauce can and move it near the kitchenpot for cooking food",
+    "Pick up the medium sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with red lid and place it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the sauce can with red lid and move it beside the kitchenpot for cooking food"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001065.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the metal body sauce can using the right arm and drop it beside the medium silver pot for cooking",
+    "Using the right arm, lift the red and orange sauce can and place it by the silver kitchenpot with black grips",
+    "Lift the metal body sauce can and place it next to the cooking pot with snug-fitting lid",
+    "Pick the small cylindrical sauce can up and move it next to the rounded silver pot with handles",
+    "Use the right arm to take the metal body sauce can to the silver kitchenpot with black grips",
+    "Use the right arm to pick the sauce can with red lid up and set it beside the rounded silver pot with handles",
+    "Grab the sauce can with printed design, move it to the medium silver pot for cooking's side",
+    "Pick the red and orange sauce can up with the right arm then place near the metallic pot with matte finish",
+    "Set the compact sauce can with plastic lid right next to the silver pot with black grips",
+    "Move the sauce can with rounded top cap beside the medium silver pot for cooking after lifting it",
+    "Pick up the small cylindrical sauce can and put it beside the silver kitchenpot",
+    "Pick the red can with orange label up and carefully position it beside the kitchenpot with smooth metallic lid",
+    "Pick up the small cylindrical sauce can using the right arm, transfer it beside the silver kitchenpot with black grips",
+    "Lift the red and orange sauce can and move it near the silver pot with matching lid",
+    "Lift the sturdy sauce can with glossy finish and set it next to the silver pot with matching lid",
+    "Lift the sauce can with red lid and set it next to the kitchenpot with smooth metallic lid",
+    "Lift the metal body sauce can and set it beside the rounded silver pot with handles",
+    "Take the red and orange sauce can to the metallic pot with matte finish using the right arm",
+    "Bring the sauce can with rounded top cap over and set it near the metallic pot with plastic handles",
+    "Grab the sturdy sauce can with glossy finish with the right arm and move it close to the silver kitchenpot",
+    "Grab the red and orange sauce can with the right arm and position it beside the kitchenpot with smooth metallic lid",
+    "Take the small metal sauce container using the right arm, set it next to the silver pot with black grips",
+    "Grab the sturdy sauce can with glossy finish and move it close to the silver kitchenpot with black grips",
+    "Grab the compact sauce can with plastic lid, move it, and place by the rounded silver pot with handles",
+    "Pick the sauce can with red lid and position it next to the medium-sized pot with plastic grips",
+    "Lift the sturdy sauce can with glossy finish, then place it next to the rounded silver pot with handles",
+    "Use the right arm to pick the red can with orange label, position it near the silver kitchenpot with black grips",
+    "Lift the sauce can with printed design, place it by the metallic pot with matte finish",
+    "With the right arm, grab the compact sauce can with plastic lid and move to the silver pot with matching lid",
+    "Use the right arm to move the metal body sauce can beside the kitchenpot with smooth metallic lid",
+    "Lift the metal body sauce can using the right arm and position it by the silver kitchenpot",
+    "Use the right arm to grab the sauce can with printed design and transfer it near the rounded silver pot with handles",
+    "Move the cylindrical sauce can from its spot to near the medium silver pot for cooking",
+    "Pick the small cylindrical sauce can with the right arm and relocate it near the metallic pot with matte finish",
+    "Move the small cylindrical sauce can to the medium-sized pot with plastic grips with the right arm",
+    "Move the sauce can with printed design to be next to the silver pot with black grips",
+    "Set the sauce can with rounded top cap near the rounded silver pot with handles after picking it up",
+    "Grab the compact sauce can with plastic lid, shift it, and place it close to the silver kitchenpot",
+    "Take the sauce can with rounded top cap with the right arm, bring it, and set next to the cooking pot with snug-fitting lid",
+    "Use the right arm to grab the red and orange sauce can and move it beside the medium-sized pot with plastic grips",
+    "Use the right arm to lift the red can with orange label and place it next to the medium silver pot for cooking",
+    "Pick up the sauce can with red lid with the right arm and set by the rounded pot with curved handles",
+    "Use the right arm to grab the sauce can with printed design, move it beside the metallic pot with plastic handles",
+    "Place the sauce can with rounded top cap next to the silver pot with matching lid",
+    "Use the right arm to grab the compact sauce can with plastic lid and move it next to the silver pot with black grips",
+    "Grab the cylindrical sauce can with the right arm and set it near the rounded pot with curved handles",
+    "Use the right arm to lift the red can with orange label and place it near the silver kitchenpot",
+    "Use the right arm to lift the sauce can with rounded top cap, then move it next to the kitchenpot with smooth metallic lid",
+    "Take the red and orange sauce can with the right arm, place it near the medium silver pot for cooking",
+    "Place the small cylindrical sauce can beside the silver pot with black grips after picking it up",
+    "Lift the sauce can with printed design using the right arm and drop it beside the silver pot with black grips",
+    "Using the right arm, lift the small cylindrical sauce can and place it by the medium silver pot for cooking",
+    "Lift the metal body sauce can and place it next to the rounded silver pot with handles",
+    "Pick the small metal sauce container up and move it next to the kitchenpot with smooth metallic lid",
+    "Use the right arm to take the sturdy sauce can with glossy finish to the medium-sized pot with plastic grips",
+    "Use the right arm to pick the sturdy sauce can with glossy finish up and set it beside the silver kitchenpot",
+    "Grab the smooth sauce can, move it to the silver kitchenpot with black grips's side",
+    "Pick the small cylindrical sauce can up with the right arm then place near the silver kitchenpot",
+    "Set the sauce can with red lid right next to the metallic pot with plastic handles",
+    "Move the small metal sauce container beside the cooking pot with snug-fitting lid after lifting it",
+    "Pick up the small metal sauce container and put it beside the metallic pot with matte finish",
+    "Pick the cylindrical sauce can up and carefully position it beside the metallic pot with plastic handles",
+    "Pick up the red and orange sauce can using the right arm, transfer it beside the rounded silver pot with handles",
+    "Lift the compact sauce can with plastic lid and move it near the kitchenpot with smooth metallic lid",
+    "Lift the red can with orange label and set it next to the silver kitchenpot with black grips",
+    "Lift the sturdy sauce can with glossy finish and set it next to the silver kitchenpot",
+    "Lift the sauce can with red lid and set it beside the rounded silver pot with handles",
+    "Take the small cylindrical sauce can to the silver pot with matching lid using the right arm",
+    "Bring the red and orange sauce can over and set it near the metallic pot with matte finish",
+    "Grab the sauce can with printed design with the right arm and move it close to the silver pot with black grips",
+    "Grab the red can with orange label with the right arm and position it beside the metallic pot with matte finish",
+    "Take the red can with orange label using the right arm, set it next to the silver pot with matching lid",
+    "Grab the sauce can with printed design and move it close to the medium-sized pot with plastic grips",
+    "Grab the smooth sauce can, move it, and place by the metallic pot with plastic handles",
+    "Pick the smooth sauce can and position it next to the rounded silver pot with handles",
+    "Lift the sturdy sauce can with glossy finish, then place it next to the rounded pot with curved handles",
+    "Use the right arm to pick the small cylindrical sauce can, position it near the metallic pot with matte finish",
+    "Lift the red can with orange label, place it by the medium silver pot for cooking",
+    "With the right arm, grab the smooth sauce can and move to the silver kitchenpot with black grips",
+    "Use the right arm to move the small metal sauce container beside the medium-sized pot with plastic grips",
+    "Lift the red and orange sauce can using the right arm and position it by the medium-sized pot with plastic grips",
+    "Use the right arm to grab the sauce can with printed design and transfer it near the silver pot with matching lid",
+    "Move the red and orange sauce can from its spot to near the kitchenpot with smooth metallic lid",
+    "Pick the sauce can with red lid with the right arm and relocate it near the silver kitchenpot with black grips",
+    "Move the sturdy sauce can with glossy finish to the metallic pot with matte finish with the right arm",
+    "Move the red can with orange label to be next to the cooking pot with snug-fitting lid",
+    "Set the red and orange sauce can near the silver pot with black grips after picking it up",
+    "Grab the red and orange sauce can, shift it, and place it close to the rounded pot with curved handles",
+    "Take the smooth sauce can with the right arm, bring it, and set next to the rounded silver pot with handles",
+    "Use the right arm to grab the sauce can with printed design and move it beside the silver kitchenpot with black grips",
+    "Use the right arm to lift the small metal sauce container and place it next to the silver kitchenpot with black grips",
+    "Pick up the compact sauce can with plastic lid with the right arm and set by the silver kitchenpot",
+    "Use the right arm to grab the sauce can with red lid, move it beside the medium silver pot for cooking",
+    "Place the sturdy sauce can with glossy finish next to the rounded pot with curved handles",
+    "Use the right arm to grab the sauce can with printed design and move it next to the rounded pot with curved handles",
+    "Grab the smooth sauce can with the right arm and set it near the medium-sized pot with plastic grips",
+    "Use the right arm to lift the red and orange sauce can and place it near the silver pot with matching lid",
+    "Use the right arm to lift the smooth sauce can, then move it next to the metallic pot with matte finish",
+    "Take the sturdy sauce can with glossy finish with the right arm, place it near the rounded silver pot with handles",
+    "Place the compact sauce can with plastic lid beside the silver pot with matching lid after picking it up"
+  ],
+  "unseen": [
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the kitchenpot for stovetop boiling",
+    "Grab the sauce can with round ridged lid and move it near the kitchenpot for stovetop boiling",
+    "Grab the red can with white text and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the red sauce can, move it near the rounded cooking pot with two handles",
+    "Pick up the red sauce can and move it near the medium kitchenpot with black handles",
+    "Grab the red sauce can and place it beside the medium kitchenpot with black handles",
+    "Pick up the sauce can with round ridged lid and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to grab the red sauce can and place it by the kitchenpot for stovetop boiling",
+    "Lift the red can with white text and set it beside the medium kitchenpot with black handles",
+    "Grab the red can with white text and place it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the red sauce can and move it beside the medium kitchenpot with black handles",
+    "Grab the sauce can with round ridged lid and move it near the rounded cooking pot with two handles",
+    "Grab the sauce can with round ridged lid and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the red sauce can, move it near the rounded cooking pot with two handles",
+    "Pick up the red can with white text and move it near the medium kitchenpot with black handles",
+    "Grab the red sauce can and place it beside the rounded cooking pot with two handles",
+    "Pick up the red can with white text and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to grab the red sauce can and place it by the kitchenpot for stovetop boiling",
+    "Lift the red sauce can and set it beside the medium kitchenpot with black handles",
+    "Grab the sauce can with round ridged lid and place it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the red sauce can and move it beside the rounded cooking pot with two handles",
+    "Grab the red sauce can and move it near the kitchenpot for stovetop boiling",
+    "Grab the red can with white text and set it beside the medium kitchenpot with black handles",
+    "Use the right arm to pick up the red sauce can, move it near the medium kitchenpot with black handles",
+    "Pick up the sauce can with round ridged lid and move it near the kitchenpot for stovetop boiling",
+    "Grab the sauce can with round ridged lid and place it beside the medium kitchenpot with black handles",
+    "Pick up the red sauce can and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to grab the red sauce can and place it by the kitchenpot for stovetop boiling",
+    "Lift the red can with white text and set it beside the medium kitchenpot with black handles",
+    "Grab the red can with white text and place it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the red sauce can and move it beside the medium kitchenpot with black handles",
+    "Grab the red sauce can and move it near the medium kitchenpot with black handles",
+    "Grab the sauce can with round ridged lid and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the red can with white text, move it near the rounded cooking pot with two handles",
+    "Pick up the red sauce can and move it near the medium kitchenpot with black handles",
+    "Grab the red can with white text and place it beside the kitchenpot for stovetop boiling",
+    "Pick up the red can with white text and set it beside the medium kitchenpot with black handles",
+    "Use the right arm to grab the red sauce can and place it by the medium kitchenpot with black handles",
+    "Lift the sauce can with round ridged lid and set it beside the kitchenpot for stovetop boiling",
+    "Grab the red sauce can and place it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the medium kitchenpot with black handles",
+    "Grab the red sauce can and move it near the rounded cooking pot with two handles",
+    "Grab the red can with white text and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the medium kitchenpot with black handles",
+    "Pick up the sauce can with round ridged lid and move it near the medium kitchenpot with black handles",
+    "Grab the sauce can with round ridged lid and place it beside the kitchenpot for stovetop boiling",
+    "Pick up the red sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the red sauce can and place it by the medium kitchenpot with black handles",
+    "Lift the red can with white text and set it beside the rounded cooking pot with two handles",
+    "Grab the sauce can with round ridged lid and place it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the red sauce can and move it beside the kitchenpot for stovetop boiling",
+    "Grab the red can with white text and move it near the rounded cooking pot with two handles",
+    "Grab the red can with white text and set it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the red can with white text, move it near the rounded cooking pot with two handles",
+    "Pick up the red can with white text and move it near the kitchenpot for stovetop boiling",
+    "Grab the red can with white text and place it beside the medium kitchenpot with black handles",
+    "Pick up the red can with white text and set it beside the medium kitchenpot with black handles",
+    "Use the right arm to grab the red can with white text and place it by the rounded cooking pot with two handles",
+    "Lift the red can with white text and set it beside the rounded cooking pot with two handles",
+    "Grab the red can with white text and place it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the red sauce can and move it beside the rounded cooking pot with two handles",
+    "Grab the red sauce can and move it near the medium kitchenpot with black handles",
+    "Grab the red can with white text and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the red can with white text, move it near the rounded cooking pot with two handles",
+    "Pick up the red can with white text and move it near the kitchenpot for stovetop boiling",
+    "Grab the red can with white text and place it beside the rounded cooking pot with two handles",
+    "Pick up the sauce can with round ridged lid and set it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the red sauce can and place it by the rounded cooking pot with two handles",
+    "Lift the sauce can with round ridged lid and set it beside the kitchenpot for stovetop boiling",
+    "Grab the red can with white text and place it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the red can with white text and move it beside the kitchenpot for stovetop boiling",
+    "Grab the sauce can with round ridged lid and move it near the kitchenpot for stovetop boiling",
+    "Grab the red can with white text and set it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the red sauce can, move it near the kitchenpot for stovetop boiling",
+    "Pick up the red sauce can and move it near the medium kitchenpot with black handles",
+    "Grab the red sauce can and place it beside the medium kitchenpot with black handles",
+    "Pick up the sauce can with round ridged lid and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to grab the sauce can with round ridged lid and place it by the rounded cooking pot with two handles",
+    "Lift the red can with white text and set it beside the medium kitchenpot with black handles",
+    "Grab the red can with white text and place it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the kitchenpot for stovetop boiling",
+    "Grab the red can with white text and move it near the medium kitchenpot with black handles",
+    "Grab the red sauce can and set it beside the medium kitchenpot with black handles",
+    "Use the right arm to pick up the red can with white text, move it near the medium kitchenpot with black handles",
+    "Pick up the sauce can with round ridged lid and move it near the kitchenpot for stovetop boiling",
+    "Grab the red can with white text and place it beside the kitchenpot for stovetop boiling",
+    "Pick up the red can with white text and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to grab the sauce can with round ridged lid and place it by the rounded cooking pot with two handles",
+    "Lift the red sauce can and set it beside the rounded cooking pot with two handles",
+    "Grab the sauce can with round ridged lid and place it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the rounded cooking pot with two handles",
+    "Grab the sauce can with round ridged lid and move it near the rounded cooking pot with two handles",
+    "Grab the red sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the red can with white text, move it near the rounded cooking pot with two handles",
+    "Pick up the sauce can with round ridged lid and move it near the kitchenpot for stovetop boiling",
+    "Grab the red sauce can and place it beside the kitchenpot for stovetop boiling",
+    "Pick up the red sauce can and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to grab the red sauce can and place it by the rounded cooking pot with two handles",
+    "Lift the red can with white text and set it beside the medium kitchenpot with black handles",
+    "Grab the red sauce can and place it near the medium kitchenpot with black handles"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001068.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the sauce can with rounded top cap and move it beside the gray kitchenpot",
+    "Grab the compact sauce can with plastic lid, shift it, and place it close to the rounded pot with metal lid",
+    "Pick the smooth sauce can with the left arm and relocate it near the gray kitchenpot",
+    "Pick up the metal body sauce can and put it beside the dark gray pot with side handles",
+    "Pick up the sauce can with red lid with the left arm and set by the kitchenpot with smooth texture",
+    "Using the left arm, lift the red can with orange label and place it by the pot with lid and sturdy handles",
+    "Pick the red and orange sauce can and position it next to the pot with round lid",
+    "Use the left arm to lift the red can with orange label and place it near the kitchenpot with smooth texture",
+    "Grab the sauce can with red lid, move it, and place by the gray pot for boiling food",
+    "Grab the small cylindrical sauce can with the left arm and set it near the kitchenpot with smooth texture",
+    "Pick the smooth sauce can up and move it next to the medium-sized smooth gray cooking pot",
+    "Move the small metal sauce container beside the medium-sized smooth gray cooking pot after lifting it",
+    "Lift the sauce can with printed design using the left arm and drop it beside the kitchenpot used for cooking meals",
+    "Take the sauce can with rounded top cap with the left arm, bring it, and set next to the round pot with dark gray knob",
+    "Lift the sauce can with rounded top cap and place it next to the pot with round lid",
+    "Use the left arm to grab the small metal sauce container and move it next to the pot with lid and sturdy handles",
+    "Lift the cylindrical sauce can and set it next to the dark gray pot with side handles",
+    "Use the left arm to pick the compact sauce can with plastic lid, position it near the dark gray pot with side handles",
+    "Grab the sauce can with rounded top cap and move it close to the round pot with dark gray knob",
+    "Grab the cylindrical sauce can, move it to the gray kitchenpot's side",
+    "Set the red and orange sauce can right next to the metal cooking pot",
+    "Use the left arm to lift the compact sauce can with plastic lid and place it next to the kitchenpot with smooth texture",
+    "Lift the smooth sauce can, place it by the kitchenpot with smooth texture",
+    "Bring the red can with orange label over and set it near the round pot with dark gray knob",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the metal cooking pot",
+    "Pick the smooth sauce can up and carefully position it beside the kitchenpot with smooth texture",
+    "Lift the red and orange sauce can and set it next to the kitchenpot used for cooking meals",
+    "Grab the sauce can with rounded top cap with the left arm and position it beside the round pot with dark gray knob",
+    "Set the red can with orange label near the medium gray pot with handles after picking it up",
+    "Use the left arm to move the sauce can with rounded top cap beside the rounded pot with metal lid",
+    "Lift the red can with orange label, then place it next to the rounded pot with metal lid",
+    "Lift the small cylindrical sauce can using the left arm and position it by the kitchenpot with smooth texture",
+    "Take the sauce can with rounded top cap with the left arm, place it near the dark gray pot with side handles",
+    "Use the left arm to lift the red and orange sauce can, then move it next to the medium gray pot with handles",
+    "Lift the smooth sauce can and move it near the kitchenpot used for cooking meals",
+    "Use the left arm to take the compact sauce can with plastic lid to the kitchenpot used for cooking meals",
+    "Move the cylindrical sauce can from its spot to near the dark gray pot with side handles",
+    "Lift the red and orange sauce can and set it beside the gray kitchenpot",
+    "Take the compact sauce can with plastic lid using the left arm, set it next to the medium gray pot with handles",
+    "Place the cylindrical sauce can beside the gray kitchenpot after picking it up",
+    "Take the smooth sauce can to the metal cooking pot using the left arm",
+    "Place the smooth sauce can next to the metal cooking pot",
+    "Use the left arm to pick the metal body sauce can up and set it beside the pot with round lid",
+    "Use the left arm to grab the sauce can with red lid and transfer it near the gray pot for boiling food",
+    "Pick the compact sauce can with plastic lid up with the left arm then place near the medium gray pot with handles",
+    "Pick up the sturdy sauce can with glossy finish using the left arm, transfer it beside the pot with lid and sturdy handles",
+    "Grab the sauce can with printed design with the left arm and move it close to the kitchenpot used for cooking meals",
+    "Move the smooth sauce can to the pot with round lid with the left arm",
+    "With the left arm, grab the sturdy sauce can with glossy finish and move to the gray pot for boiling food",
+    "Move the sturdy sauce can with glossy finish to be next to the pot with lid and sturdy handles",
+    "Use the left arm to grab the cylindrical sauce can and move it beside the dark gray pot with side handles",
+    "Grab the compact sauce can with plastic lid, shift it, and place it close to the gray kitchenpot",
+    "Pick the red can with orange label with the left arm and relocate it near the rounded pot with metal lid",
+    "Pick up the sturdy sauce can with glossy finish and put it beside the gray pot for boiling food",
+    "Pick up the sauce can with rounded top cap with the left arm and set by the medium-sized smooth gray cooking pot",
+    "Using the left arm, lift the sauce can with printed design and place it by the metal cooking pot",
+    "Pick the compact sauce can with plastic lid and position it next to the medium-sized smooth gray cooking pot",
+    "Use the left arm to lift the cylindrical sauce can and place it near the pot with lid and sturdy handles",
+    "Grab the sauce can with rounded top cap, move it, and place by the pot with round lid",
+    "Grab the sauce can with red lid with the left arm and set it near the kitchenpot with smooth texture",
+    "Pick the cylindrical sauce can up and move it next to the round pot with dark gray knob",
+    "Move the red can with orange label beside the gray kitchenpot after lifting it",
+    "Lift the small cylindrical sauce can using the left arm and drop it beside the gray kitchenpot",
+    "Take the sturdy sauce can with glossy finish with the left arm, bring it, and set next to the gray pot for boiling food",
+    "Lift the sauce can with printed design and place it next to the medium gray pot with handles",
+    "Use the left arm to grab the small cylindrical sauce can and move it next to the metal cooking pot",
+    "Lift the sauce can with printed design and set it next to the pot with round lid",
+    "Use the left arm to pick the metal body sauce can, position it near the medium gray pot with handles",
+    "Grab the sturdy sauce can with glossy finish and move it close to the pot with lid and sturdy handles",
+    "Grab the sauce can with rounded top cap, move it to the metal cooking pot's side",
+    "Set the small metal sauce container right next to the metal cooking pot",
+    "Use the left arm to lift the compact sauce can with plastic lid and place it next to the gray kitchenpot",
+    "Lift the sauce can with rounded top cap, place it by the round pot with dark gray knob",
+    "Bring the red and orange sauce can over and set it near the kitchenpot used for cooking meals",
+    "Use the left arm to grab the red and orange sauce can, move it beside the round pot with dark gray knob",
+    "Pick the cylindrical sauce can up and carefully position it beside the gray kitchenpot",
+    "Lift the sturdy sauce can with glossy finish and set it next to the medium gray pot with handles",
+    "Grab the red can with orange label with the left arm and position it beside the medium-sized smooth gray cooking pot",
+    "Set the sauce can with red lid near the pot with lid and sturdy handles after picking it up",
+    "Use the left arm to move the sauce can with red lid beside the kitchenpot used for cooking meals",
+    "Lift the sauce can with printed design, then place it next to the medium-sized smooth gray cooking pot",
+    "Lift the metal body sauce can using the left arm and position it by the medium gray pot with handles",
+    "Take the small metal sauce container with the left arm, place it near the rounded pot with metal lid",
+    "Use the left arm to lift the sauce can with red lid, then move it next to the gray pot for boiling food",
+    "Lift the metal body sauce can and move it near the gray kitchenpot",
+    "Use the left arm to take the red can with orange label to the rounded pot with metal lid",
+    "Move the sauce can with red lid from its spot to near the medium gray pot with handles",
+    "Lift the sauce can with red lid and set it beside the gray pot for boiling food",
+    "Take the sturdy sauce can with glossy finish using the left arm, set it next to the pot with round lid",
+    "Place the small metal sauce container beside the kitchenpot with smooth texture after picking it up",
+    "Take the sauce can with printed design to the medium-sized smooth gray cooking pot using the left arm",
+    "Place the metal body sauce can next to the dark gray pot with side handles",
+    "Use the left arm to pick the compact sauce can with plastic lid up and set it beside the medium gray pot with handles",
+    "Use the left arm to grab the compact sauce can with plastic lid and transfer it near the pot with round lid",
+    "Pick the small cylindrical sauce can up with the left arm then place near the kitchenpot with smooth texture",
+    "Pick up the small cylindrical sauce can using the left arm, transfer it beside the medium gray pot with handles",
+    "Grab the red and orange sauce can with the left arm and move it close to the dark gray pot with side handles",
+    "Move the red and orange sauce can to the gray kitchenpot with the left arm",
+    "With the left arm, grab the sauce can with rounded top cap and move to the dark gray pot with side handles",
+    "Move the small cylindrical sauce can to be next to the rounded pot with metal lid"
+  ],
+  "unseen": [
+    "Grab the sauce can with round ridged lid and place it beside the smooth gray pot with matte finish",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the metal pot with curved handles",
+    "Grab the sauce can with round ridged lid and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the sauce can with round ridged lid and move it near the smooth gray pot with matte finish",
+    "Use the left arm to grab the red sauce can and place it by the smooth gray pot with matte finish",
+    "Grab the sauce can with round ridged lid and place it near the smooth gray pot with matte finish",
+    "Grab the sauce can with round ridged lid and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the metal pot with curved handles",
+    "Pick up the red sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Lift the red sauce can and set it beside the metal pot with curved handles",
+    "Grab the sauce can with round ridged lid and place it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the metal pot with curved handles",
+    "Grab the red can with white text and set it beside the metal pot with curved handles",
+    "Pick up the red sauce can and move it near the metal pot with curved handles",
+    "Use the left arm to grab the red sauce can and place it by the smooth gray pot with matte finish",
+    "Grab the red sauce can and place it near the smooth gray pot with matte finish",
+    "Grab the red can with white text and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the cylindrical kitchenpot for cooking",
+    "Pick up the sauce can with round ridged lid and set it beside the smooth gray pot with matte finish",
+    "Lift the sauce can with round ridged lid and set it beside the smooth gray pot with matte finish",
+    "Grab the red sauce can and place it beside the metal pot with curved handles",
+    "Use the left arm to pick up the red sauce can and move it beside the metal pot with curved handles",
+    "Grab the sauce can with round ridged lid and set it beside the metal pot with curved handles",
+    "Pick up the red can with white text and move it near the smooth gray pot with matte finish",
+    "Use the left arm to grab the red can with white text and place it by the smooth gray pot with matte finish",
+    "Grab the red sauce can and place it near the metal pot with curved handles",
+    "Grab the red sauce can and move it near the metal pot with curved handles",
+    "Use the left arm to pick up the red sauce can, move it near the metal pot with curved handles",
+    "Pick up the red can with white text and set it beside the smooth gray pot with matte finish",
+    "Lift the sauce can with round ridged lid and set it beside the metal pot with curved handles",
+    "Grab the red can with white text and place it beside the metal pot with curved handles",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the metal pot with curved handles",
+    "Grab the red sauce can and set it beside the smooth gray pot with matte finish",
+    "Pick up the sauce can with round ridged lid and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to grab the red can with white text and place it by the metal pot with curved handles",
+    "Grab the red sauce can and place it near the smooth gray pot with matte finish",
+    "Grab the red can with white text and move it near the metal pot with curved handles",
+    "Use the left arm to pick up the red sauce can, move it near the smooth gray pot with matte finish",
+    "Pick up the red can with white text and set it beside the cylindrical kitchenpot for cooking",
+    "Lift the sauce can with round ridged lid and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the red sauce can and place it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the red sauce can and move it beside the cylindrical kitchenpot for cooking",
+    "Grab the sauce can with round ridged lid and set it beside the metal pot with curved handles",
+    "Pick up the red sauce can and move it near the smooth gray pot with matte finish",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the metal pot with curved handles",
+    "Grab the sauce can with round ridged lid and place it near the metal pot with curved handles",
+    "Grab the red can with white text and move it near the smooth gray pot with matte finish",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the cylindrical kitchenpot for cooking",
+    "Pick up the sauce can with round ridged lid and set it beside the cylindrical kitchenpot for cooking",
+    "Lift the sauce can with round ridged lid and set it beside the metal pot with curved handles",
+    "Grab the sauce can with round ridged lid and place it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the red can with white text and move it beside the cylindrical kitchenpot for cooking",
+    "Grab the red can with white text and set it beside the smooth gray pot with matte finish",
+    "Pick up the red sauce can and move it near the smooth gray pot with matte finish",
+    "Use the left arm to grab the red can with white text and place it by the cylindrical kitchenpot for cooking",
+    "Grab the red sauce can and place it near the smooth gray pot with matte finish",
+    "Grab the sauce can with round ridged lid and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the cylindrical kitchenpot for cooking",
+    "Pick up the sauce can with round ridged lid and set it beside the cylindrical kitchenpot for cooking",
+    "Lift the sauce can with round ridged lid and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the sauce can with round ridged lid and place it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the cylindrical kitchenpot for cooking",
+    "Grab the red sauce can and set it beside the smooth gray pot with matte finish",
+    "Pick up the red sauce can and move it near the smooth gray pot with matte finish",
+    "Use the left arm to grab the red sauce can and place it by the metal pot with curved handles",
+    "Grab the red sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Grab the red sauce can and move it near the smooth gray pot with matte finish",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the cylindrical kitchenpot for cooking",
+    "Pick up the red can with white text and set it beside the cylindrical kitchenpot for cooking",
+    "Lift the sauce can with round ridged lid and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the sauce can with round ridged lid and place it beside the smooth gray pot with matte finish",
+    "Use the left arm to pick up the red can with white text and move it beside the cylindrical kitchenpot for cooking",
+    "Grab the red sauce can and set it beside the smooth gray pot with matte finish",
+    "Pick up the red can with white text and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to grab the red sauce can and place it by the metal pot with curved handles",
+    "Grab the red can with white text and place it near the metal pot with curved handles",
+    "Grab the red sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the red sauce can, move it near the cylindrical kitchenpot for cooking",
+    "Pick up the red sauce can and set it beside the metal pot with curved handles",
+    "Lift the red sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the sauce can with round ridged lid and place it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the metal pot with curved handles",
+    "Grab the red can with white text and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the red sauce can and move it near the metal pot with curved handles",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the smooth gray pot with matte finish",
+    "Grab the red can with white text and place it near the metal pot with curved handles",
+    "Grab the sauce can with round ridged lid and move it near the smooth gray pot with matte finish",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the smooth gray pot with matte finish",
+    "Pick up the red sauce can and set it beside the metal pot with curved handles",
+    "Lift the red sauce can and set it beside the metal pot with curved handles",
+    "Grab the red can with white text and place it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the metal pot with curved handles",
+    "Grab the red sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the red sauce can and move it near the metal pot with curved handles",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the metal pot with curved handles",
+    "Grab the red can with white text and place it near the cylindrical kitchenpot for cooking",
+    "Grab the red can with white text and move it near the smooth gray pot with matte finish",
+    "Use the left arm to pick up the red sauce can, move it near the cylindrical kitchenpot for cooking",
+    "Pick up the red can with white text and set it beside the metal pot with curved handles",
+    "Lift the sauce can with round ridged lid and set it beside the metal pot with curved handles"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001076.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the printed label sauce can with the right arm and set by the black kitchenpot with silver handle bars",
+    "Use the right arm to lift the yellow and brown sauce can and place it next to the black kitchenpot with plastic lid handle",
+    "Use the right arm to pick the medium sauce can, position it near the medium kitchenpot with smooth surface",
+    "Lift the brown top sauce can and set it next to the kitchenpot with metallic round lid",
+    "Take the brown sauce can with the right arm, place it near the kitchenpot with metallic round lid",
+    "Take the cylindrical sauce can using the right arm, set it next to the black kitchenpot with silver handle bars",
+    "Lift the smooth cylindrical sauce can and move it near the cooking kitchenpot with sturdy handles",
+    "Grab the yellow label sauce can, move it to the black kitchenpot with flat lid's side",
+    "Use the right arm to grab the medium sauce can and move it next to the black kitchenpot with flat lid",
+    "Use the right arm to grab the yellow label sauce can, move it beside the black kitchenpot with round lid",
+    "Use the right arm to pick the metal sauce can up and set it beside the black kitchenpot with silver handle bars",
+    "With the right arm, grab the brown sauce can and move to the black kitchenpot",
+    "Bring the sauce can with brown lid over and set it near the kitchenpot for boiling food",
+    "Move the brown sauce can from its spot to near the black kitchenpot with round lid",
+    "Pick the metal sauce can up and carefully position it beside the cooking kitchenpot with sturdy handles",
+    "Take the cylindrical sauce can to the black metal kitchenpot using the right arm",
+    "Grab the smooth cylindrical sauce can and move it close to the black metal kitchenpot",
+    "Lift the yellow label sauce can using the right arm and drop it beside the black kitchenpot with flat lid",
+    "Move the smooth cylindrical sauce can to be next to the kitchenpot with metallic round lid",
+    "Move the medium sauce can beside the black kitchenpot with flat lid after lifting it",
+    "Grab the sauce can for condiments with the right arm and position it beside the medium kitchenpot with smooth surface",
+    "Pick the smooth cylindrical sauce can up and move it next to the kitchenpot for boiling food",
+    "Use the right arm to grab the printed label sauce can and move it beside the black kitchenpot with flat lid",
+    "Grab the printed label sauce can with the right arm and move it close to the black kitchenpot with flat lid",
+    "Use the right arm to lift the brown top sauce can and place it near the medium kitchenpot with smooth surface",
+    "Move the sauce can with brown lid to the black metal kitchenpot with the right arm",
+    "Grab the yellow label sauce can, move it, and place by the kitchenpot for boiling food",
+    "Pick up the smooth cylindrical sauce can using the right arm, transfer it beside the black kitchenpot with flat lid",
+    "Grab the metal sauce can with the right arm and set it near the cooking kitchenpot with sturdy handles",
+    "Use the right arm to move the printed label sauce can beside the black kitchenpot with silver handle bars",
+    "Pick up the printed label sauce can and put it beside the medium kitchenpot with smooth surface",
+    "Lift the metal sauce can, place it by the kitchenpot with metallic round lid",
+    "Lift the brown top sauce can and place it next to the black kitchenpot with flat lid",
+    "Lift the yellow and brown sauce can and set it next to the black kitchenpot",
+    "Set the medium sauce can near the cooking kitchenpot with sturdy handles after picking it up",
+    "Place the printed label sauce can next to the black cooking pot with silver handles",
+    "Pick the sauce can with ingredient information with the right arm and relocate it near the medium kitchenpot with smooth surface",
+    "Using the right arm, lift the yellow and brown sauce can and place it by the black metal kitchenpot",
+    "Use the right arm to take the sauce can with brown lid to the black kitchenpot with flat lid",
+    "Use the right arm to grab the brown top sauce can and transfer it near the medium kitchenpot with smooth surface",
+    "Lift the sauce can with brown lid and set it beside the black kitchenpot with silver and black handles",
+    "Take the cylindrical sauce can with the right arm, bring it, and set next to the medium kitchenpot with smooth surface",
+    "Lift the printed label sauce can using the right arm and position it by the kitchenpot with metallic round lid",
+    "Grab the sauce can with ingredient information, shift it, and place it close to the black kitchenpot with flat lid",
+    "Pick the brown top sauce can and position it next to the black kitchenpot",
+    "Lift the smooth cylindrical sauce can, then place it next to the black kitchenpot",
+    "Use the right arm to lift the printed label sauce can, then move it next to the kitchenpot with metallic round lid",
+    "Pick the sauce can with brown lid up with the right arm then place near the black cooking pot with silver handles",
+    "Place the sauce can with ingredient information beside the medium kitchenpot with smooth surface after picking it up",
+    "Set the yellow label sauce can right next to the black metal kitchenpot",
+    "Pick up the medium sauce can with the right arm and set by the cooking kitchenpot with sturdy handles",
+    "Use the right arm to lift the metal sauce can and place it next to the black kitchenpot with flat lid",
+    "Use the right arm to pick the yellow label sauce can, position it near the kitchenpot for boiling food",
+    "Lift the brown sauce can and set it next to the black kitchenpot with silver handle bars",
+    "Take the sauce can for condiments with the right arm, place it near the black kitchenpot with silver and black handles",
+    "Take the smooth cylindrical sauce can using the right arm, set it next to the kitchenpot with metallic round lid",
+    "Lift the sauce can with ingredient information and move it near the medium kitchenpot with smooth surface",
+    "Grab the sauce can for condiments, move it to the kitchenpot with metallic round lid's side",
+    "Use the right arm to grab the yellow label sauce can and move it next to the black cooking pot with silver handles",
+    "Use the right arm to grab the cylindrical sauce can, move it beside the black kitchenpot with round lid",
+    "Use the right arm to pick the sauce can with ingredient information up and set it beside the black kitchenpot with round lid",
+    "With the right arm, grab the cylindrical sauce can and move to the black kitchenpot with round lid",
+    "Bring the sauce can with brown lid over and set it near the black kitchenpot with silver handle bars",
+    "Move the sauce can with brown lid from its spot to near the kitchenpot for boiling food",
+    "Pick the metal sauce can up and carefully position it beside the medium kitchenpot with smooth surface",
+    "Take the yellow and brown sauce can to the black kitchenpot with flat lid using the right arm",
+    "Grab the printed label sauce can and move it close to the black kitchenpot with plastic lid handle",
+    "Lift the brown sauce can using the right arm and drop it beside the black kitchenpot",
+    "Move the smooth cylindrical sauce can to be next to the black cooking pot with silver handles",
+    "Move the cylindrical sauce can beside the black kitchenpot with round lid after lifting it",
+    "Grab the printed label sauce can with the right arm and position it beside the black kitchenpot with silver handle bars",
+    "Pick the sauce can with ingredient information up and move it next to the black cooking pot with silver handles",
+    "Use the right arm to grab the printed label sauce can and move it beside the black kitchenpot",
+    "Grab the sauce can for condiments with the right arm and move it close to the black kitchenpot",
+    "Use the right arm to lift the smooth cylindrical sauce can and place it near the medium kitchenpot with smooth surface",
+    "Move the sauce can with ingredient information to the black cooking pot with silver handles with the right arm",
+    "Grab the sauce can with ingredient information, move it, and place by the black kitchenpot with silver handle bars",
+    "Pick up the sauce can with brown lid using the right arm, transfer it beside the black kitchenpot with silver and black handles",
+    "Grab the brown sauce can with the right arm and set it near the black kitchenpot with silver and black handles",
+    "Use the right arm to move the cylindrical sauce can beside the black metal kitchenpot",
+    "Pick up the brown top sauce can and put it beside the black metal kitchenpot",
+    "Lift the medium sauce can, place it by the black metal kitchenpot",
+    "Lift the sauce can with brown lid and place it next to the black metal kitchenpot",
+    "Lift the sauce can with ingredient information and set it next to the black kitchenpot with silver handle bars",
+    "Set the brown top sauce can near the black kitchenpot with round lid after picking it up",
+    "Place the brown sauce can next to the black kitchenpot with silver handle bars",
+    "Pick the metal sauce can with the right arm and relocate it near the kitchenpot with metallic round lid",
+    "Using the right arm, lift the sauce can with brown lid and place it by the cooking kitchenpot with sturdy handles",
+    "Use the right arm to take the sauce can with ingredient information to the kitchenpot for boiling food",
+    "Use the right arm to grab the sauce can with ingredient information and transfer it near the black kitchenpot with round lid",
+    "Lift the metal sauce can and set it beside the cooking kitchenpot with sturdy handles",
+    "Take the sauce can with brown lid with the right arm, bring it, and set next to the black kitchenpot with plastic lid handle",
+    "Lift the yellow label sauce can using the right arm and position it by the kitchenpot with metallic round lid",
+    "Grab the sauce can for condiments, shift it, and place it close to the black kitchenpot with silver and black handles",
+    "Pick the brown sauce can and position it next to the medium kitchenpot with smooth surface",
+    "Lift the metal sauce can, then place it next to the black kitchenpot with flat lid",
+    "Use the right arm to lift the printed label sauce can, then move it next to the kitchenpot with metallic round lid",
+    "Pick the smooth cylindrical sauce can up with the right arm then place near the black kitchenpot with round lid",
+    "Place the cylindrical sauce can beside the black kitchenpot after picking it up",
+    "Set the brown sauce can right next to the kitchenpot for boiling food"
+  ],
+  "unseen": [
+    "Use the right arm to grab the hand-sized sauce can and place it by the medium black kitchenpot with lid",
+    "Lift the sauce can with smooth surface and set it beside the shiny black kitchenpot",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the medium black kitchenpot with lid",
+    "Grab the metal body sauce can and set it beside the medium black kitchenpot with lid",
+    "Pick up the hand-sized sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the sauce can with smooth surface and move it near the round black kitchenpot",
+    "Pick up the metal body sauce can and move it near the medium black kitchenpot with lid",
+    "Use the right arm to pick up the metal body sauce can, move it near the medium black kitchenpot with lid",
+    "Grab the metal body sauce can and place it beside the shiny black kitchenpot",
+    "Grab the hand-sized sauce can and place it near the medium black kitchenpot with lid",
+    "Use the right arm to grab the hand-sized sauce can and place it by the shiny black kitchenpot",
+    "Lift the metal body sauce can and set it beside the round black kitchenpot",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the shiny black kitchenpot",
+    "Grab the metal body sauce can and set it beside the medium black kitchenpot with lid",
+    "Pick up the hand-sized sauce can and set it beside the shiny black kitchenpot",
+    "Grab the hand-sized sauce can and move it near the round black kitchenpot",
+    "Pick up the metal body sauce can and move it near the shiny black kitchenpot",
+    "Use the right arm to pick up the metal body sauce can, move it near the medium black kitchenpot with lid",
+    "Grab the hand-sized sauce can and place it beside the shiny black kitchenpot",
+    "Grab the hand-sized sauce can and place it near the shiny black kitchenpot",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the medium black kitchenpot with lid",
+    "Lift the sauce can with smooth surface and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the shiny black kitchenpot",
+    "Grab the hand-sized sauce can and set it beside the round black kitchenpot",
+    "Pick up the sauce can with smooth surface and set it beside the shiny black kitchenpot",
+    "Grab the metal body sauce can and move it near the medium black kitchenpot with lid",
+    "Pick up the sauce can with smooth surface and move it near the shiny black kitchenpot",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the round black kitchenpot",
+    "Grab the hand-sized sauce can and place it beside the shiny black kitchenpot",
+    "Grab the hand-sized sauce can and place it near the round black kitchenpot",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the medium black kitchenpot with lid",
+    "Lift the metal body sauce can and set it beside the round black kitchenpot",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the shiny black kitchenpot",
+    "Grab the hand-sized sauce can and set it beside the medium black kitchenpot with lid",
+    "Pick up the sauce can with smooth surface and set it beside the medium black kitchenpot with lid",
+    "Grab the metal body sauce can and move it near the round black kitchenpot",
+    "Pick up the hand-sized sauce can and move it near the round black kitchenpot",
+    "Use the right arm to pick up the metal body sauce can, move it near the round black kitchenpot",
+    "Grab the sauce can with smooth surface and place it beside the shiny black kitchenpot",
+    "Grab the hand-sized sauce can and place it near the round black kitchenpot",
+    "Use the right arm to grab the metal body sauce can and place it by the medium black kitchenpot with lid",
+    "Lift the hand-sized sauce can and set it beside the round black kitchenpot",
+    "Use the right arm to pick up the metal body sauce can and move it beside the medium black kitchenpot with lid",
+    "Grab the sauce can with smooth surface and set it beside the shiny black kitchenpot",
+    "Pick up the hand-sized sauce can and set it beside the shiny black kitchenpot",
+    "Grab the metal body sauce can and move it near the shiny black kitchenpot",
+    "Pick up the metal body sauce can and move it near the shiny black kitchenpot",
+    "Use the right arm to pick up the metal body sauce can, move it near the medium black kitchenpot with lid",
+    "Grab the hand-sized sauce can and place it beside the medium black kitchenpot with lid",
+    "Grab the metal body sauce can and place it near the medium black kitchenpot with lid",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the round black kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the medium black kitchenpot with lid",
+    "Grab the hand-sized sauce can and set it beside the shiny black kitchenpot",
+    "Pick up the metal body sauce can and set it beside the round black kitchenpot",
+    "Grab the metal body sauce can and move it near the medium black kitchenpot with lid",
+    "Pick up the metal body sauce can and move it near the round black kitchenpot",
+    "Use the right arm to pick up the metal body sauce can, move it near the shiny black kitchenpot",
+    "Grab the sauce can with smooth surface and place it beside the medium black kitchenpot with lid",
+    "Grab the sauce can with smooth surface and place it near the medium black kitchenpot with lid",
+    "Use the right arm to grab the hand-sized sauce can and place it by the medium black kitchenpot with lid",
+    "Lift the sauce can with smooth surface and set it beside the shiny black kitchenpot",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the medium black kitchenpot with lid",
+    "Grab the sauce can with smooth surface and set it beside the round black kitchenpot",
+    "Pick up the hand-sized sauce can and set it beside the shiny black kitchenpot",
+    "Grab the hand-sized sauce can and move it near the shiny black kitchenpot",
+    "Pick up the sauce can with smooth surface and move it near the medium black kitchenpot with lid",
+    "Use the right arm to pick up the metal body sauce can, move it near the medium black kitchenpot with lid",
+    "Grab the metal body sauce can and place it beside the medium black kitchenpot with lid",
+    "Grab the sauce can with smooth surface and place it near the round black kitchenpot",
+    "Use the right arm to grab the metal body sauce can and place it by the medium black kitchenpot with lid",
+    "Lift the sauce can with smooth surface and set it beside the round black kitchenpot",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the medium black kitchenpot with lid",
+    "Grab the sauce can with smooth surface and set it beside the round black kitchenpot",
+    "Pick up the metal body sauce can and set it beside the round black kitchenpot",
+    "Grab the hand-sized sauce can and move it near the round black kitchenpot",
+    "Pick up the sauce can with smooth surface and move it near the shiny black kitchenpot",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the round black kitchenpot",
+    "Grab the metal body sauce can and place it beside the medium black kitchenpot with lid",
+    "Grab the metal body sauce can and place it near the round black kitchenpot",
+    "Use the right arm to grab the hand-sized sauce can and place it by the medium black kitchenpot with lid",
+    "Lift the sauce can with smooth surface and set it beside the round black kitchenpot",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the round black kitchenpot",
+    "Grab the metal body sauce can and set it beside the medium black kitchenpot with lid",
+    "Pick up the sauce can with smooth surface and set it beside the medium black kitchenpot with lid",
+    "Grab the sauce can with smooth surface and move it near the shiny black kitchenpot",
+    "Pick up the sauce can with smooth surface and move it near the medium black kitchenpot with lid",
+    "Use the right arm to pick up the metal body sauce can, move it near the shiny black kitchenpot",
+    "Grab the hand-sized sauce can and place it beside the medium black kitchenpot with lid",
+    "Grab the metal body sauce can and place it near the round black kitchenpot",
+    "Use the right arm to grab the hand-sized sauce can and place it by the medium black kitchenpot with lid",
+    "Lift the metal body sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the round black kitchenpot",
+    "Grab the metal body sauce can and set it beside the round black kitchenpot",
+    "Pick up the sauce can with smooth surface and set it beside the medium black kitchenpot with lid",
+    "Grab the metal body sauce can and move it near the medium black kitchenpot with lid",
+    "Pick up the metal body sauce can and move it near the round black kitchenpot",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the medium black kitchenpot with lid",
+    "Grab the hand-sized sauce can and place it beside the medium black kitchenpot with lid",
+    "Grab the metal body sauce can and place it near the round black kitchenpot"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001077.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the cylindrical sauce can to the cooking kitchenpot with sturdy handles using the left arm",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the kitchenpot for boiling food",
+    "Take the sauce can with sealed top using the left arm, set it next to the black kitchenpot with plastic lid handle",
+    "Move the brown and yellow cylindrical sauce can beside the black metal kitchenpot after lifting it",
+    "Use the left arm to grab the sauce can with sealed top and transfer it near the black kitchenpot with silver handle bars",
+    "Place the rounded-edge sauce can beside the black kitchenpot with round lid after picking it up",
+    "Bring the medium sauce can with white lid over and set it near the black kitchenpot with plastic lid handle",
+    "Lift the sauce can with sealed top and set it beside the black metal kitchenpot",
+    "Grab the plastic lid sauce can, move it, and place by the black kitchenpot with silver and black handles",
+    "Lift the brown and yellow cylindrical sauce can and set it next to the black kitchenpot",
+    "Lift the cylindrical sauce can, place it by the kitchenpot with metallic round lid",
+    "Pick the sauce can with glossy finish up and carefully position it beside the black kitchenpot with silver and black handles",
+    "Take the hand-sized sauce can with the left arm, place it near the black kitchenpot with plastic lid handle",
+    "Use the left arm to pick the hand-sized sauce can, position it near the medium kitchenpot with smooth surface",
+    "Grab the rounded-edge sauce can and move it close to the kitchenpot for boiling food",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the black cooking pot with silver handles",
+    "Set the sauce can with glossy finish near the kitchenpot with metallic round lid after picking it up",
+    "Move the hand-sized sauce can from its spot to near the black kitchenpot with silver handle bars",
+    "Use the left arm to move the round sauce can with yellow pattern beside the black kitchenpot with round lid",
+    "Lift the sauce can with glossy finish, then place it next to the black kitchenpot",
+    "Use the left arm to lift the round sauce can with yellow pattern and place it next to the black kitchenpot with flat lid",
+    "Place the sauce can next to the black metal kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and move it close to the kitchenpot with metallic round lid",
+    "Take the plastic lid sauce can with the left arm, bring it, and set next to the black metal kitchenpot",
+    "Move the medium sauce can with white lid to the black kitchenpot with round lid with the left arm",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the black kitchenpot",
+    "Use the left arm to take the plastic lid sauce can to the kitchenpot with metallic round lid",
+    "Pick the rounded-edge sauce can up with the left arm then place near the cooking kitchenpot with sturdy handles",
+    "Use the left arm to lift the sauce can with sealed top and place it near the black kitchenpot with plastic lid handle",
+    "Pick up the plastic lid sauce can and put it beside the kitchenpot with metallic round lid",
+    "Pick up the yellow brown sauce can using the left arm, transfer it beside the cooking kitchenpot with sturdy handles",
+    "Lift the sauce can with glossy finish and move it near the medium kitchenpot with smooth surface",
+    "Set the white plastic lid sauce can right next to the black kitchenpot with round lid",
+    "Pick up the sauce can with glossy finish with the left arm and set by the black kitchenpot",
+    "Lift the sauce can with glossy finish using the left arm and position it by the black kitchenpot with flat lid",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the black cooking pot with silver handles",
+    "Use the left arm to grab the medium sauce can with white lid and move it beside the kitchenpot for boiling food",
+    "Grab the yellow brown sauce can, move it to the black cooking pot with silver handles's side",
+    "Use the left arm to grab the round sauce can with yellow pattern, move it beside the black kitchenpot with silver and black handles",
+    "Pick the yellow brown sauce can with the left arm and relocate it near the black kitchenpot with flat lid",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the kitchenpot for boiling food",
+    "Grab the rounded-edge sauce can with the left arm and position it beside the black kitchenpot with silver and black handles",
+    "Pick the rounded-edge sauce can up and move it next to the black cooking pot with silver handles",
+    "Using the left arm, lift the brown and yellow cylindrical sauce can and place it by the black kitchenpot with silver and black handles",
+    "Move the hand-sized sauce can to be next to the black kitchenpot with plastic lid handle",
+    "Lift the sauce can and set it next to the black kitchenpot with silver and black handles",
+    "With the left arm, grab the white plastic lid sauce can and move to the black metal kitchenpot",
+    "Lift the yellow brown sauce can and place it next to the black kitchenpot with round lid",
+    "Grab the cylindrical sauce can with the left arm and set it near the black kitchenpot with flat lid",
+    "Pick the sauce can with glossy finish and position it next to the black kitchenpot with silver handle bars",
+    "Take the sauce can with sealed top to the black kitchenpot with flat lid using the left arm",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the black kitchenpot with flat lid",
+    "Take the sauce can with glossy finish using the left arm, set it next to the black cooking pot with silver handles",
+    "Move the cylindrical sauce can beside the black kitchenpot with plastic lid handle after lifting it",
+    "Use the left arm to grab the plastic lid sauce can and transfer it near the medium kitchenpot with smooth surface",
+    "Place the medium sauce can with white lid beside the cooking kitchenpot with sturdy handles after picking it up",
+    "Bring the white plastic lid sauce can over and set it near the black metal kitchenpot",
+    "Lift the white plastic lid sauce can and set it beside the black kitchenpot with round lid",
+    "Grab the sauce can with glossy finish, move it, and place by the black kitchenpot with plastic lid handle",
+    "Lift the medium sauce can with white lid and set it next to the black kitchenpot with silver and black handles",
+    "Lift the yellow brown sauce can, place it by the black kitchenpot with flat lid",
+    "Pick the white plastic lid sauce can up and carefully position it beside the medium kitchenpot with smooth surface",
+    "Take the round sauce can with yellow pattern with the left arm, place it near the black kitchenpot with plastic lid handle",
+    "Use the left arm to pick the sauce can with glossy finish, position it near the black kitchenpot with flat lid",
+    "Grab the sauce can with glossy finish and move it close to the black kitchenpot with flat lid",
+    "Grab the medium sauce can with white lid, shift it, and place it close to the kitchenpot for boiling food",
+    "Set the white plastic lid sauce can near the cooking kitchenpot with sturdy handles after picking it up",
+    "Move the rounded-edge sauce can from its spot to near the black metal kitchenpot",
+    "Use the left arm to move the medium sauce can with white lid beside the black kitchenpot with round lid",
+    "Lift the hand-sized sauce can, then place it next to the cooking kitchenpot with sturdy handles",
+    "Use the left arm to lift the sauce can with glossy finish and place it next to the cooking kitchenpot with sturdy handles",
+    "Place the brown and yellow cylindrical sauce can next to the black metal kitchenpot",
+    "Grab the yellow brown sauce can with the left arm and move it close to the cooking kitchenpot with sturdy handles",
+    "Take the brown and yellow cylindrical sauce can with the left arm, bring it, and set next to the black kitchenpot with plastic lid handle",
+    "Move the rounded-edge sauce can to the kitchenpot for boiling food with the left arm",
+    "Use the left arm to lift the sauce can with sealed top, then move it next to the black metal kitchenpot",
+    "Use the left arm to take the sauce can with glossy finish to the black kitchenpot with silver and black handles",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the black kitchenpot with flat lid",
+    "Use the left arm to lift the white plastic lid sauce can and place it near the black metal kitchenpot",
+    "Pick up the round sauce can with yellow pattern and put it beside the medium kitchenpot with smooth surface",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the black kitchenpot with plastic lid handle",
+    "Lift the rounded-edge sauce can and move it near the black metal kitchenpot",
+    "Set the yellow brown sauce can right next to the black kitchenpot with flat lid",
+    "Pick up the plastic lid sauce can with the left arm and set by the black kitchenpot with round lid",
+    "Lift the medium sauce can with white lid using the left arm and position it by the black kitchenpot",
+    "Use the left arm to grab the sauce can and move it next to the black kitchenpot with silver handle bars",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the black cooking pot with silver handles",
+    "Grab the white plastic lid sauce can, move it to the black kitchenpot with silver and black handles's side",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can, move it beside the cooking kitchenpot with sturdy handles",
+    "Pick the sauce can with sealed top with the left arm and relocate it near the black kitchenpot",
+    "Use the left arm to pick the sauce can with sealed top up and set it beside the black kitchenpot with plastic lid handle",
+    "Grab the round sauce can with yellow pattern with the left arm and position it beside the kitchenpot with metallic round lid",
+    "Pick the sauce can with sealed top up and move it next to the black kitchenpot with plastic lid handle",
+    "Using the left arm, lift the hand-sized sauce can and place it by the cooking kitchenpot with sturdy handles",
+    "Move the brown and yellow cylindrical sauce can to be next to the black kitchenpot with silver and black handles",
+    "Lift the plastic lid sauce can and set it next to the black kitchenpot with flat lid",
+    "With the left arm, grab the yellow brown sauce can and move to the kitchenpot with metallic round lid",
+    "Lift the white plastic lid sauce can and place it next to the black kitchenpot with plastic lid handle",
+    "Grab the brown and yellow cylindrical sauce can with the left arm and set it near the black kitchenpot",
+    "Pick the white plastic lid sauce can and position it next to the black kitchenpot with round lid"
+  ],
+  "unseen": [
+    "Pick up the brown sauce can with top lid and set it beside the round black kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the smooth sauce can and place it near the round black kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the round black kitchenpot",
+    "Lift the smooth sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the left arm to grab the yellow label on sauce can and place it by the shiny black kitchenpot",
+    "Grab the smooth sauce can and place it beside the round black kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the round black kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the shiny black kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the medium black kitchenpot with lid",
+    "Pick up the yellow label on sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the brown sauce can with top lid and set it beside the shiny black kitchenpot",
+    "Grab the smooth sauce can and place it near the medium black kitchenpot with lid",
+    "Grab the smooth sauce can and move it near the shiny black kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the shiny black kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the shiny black kitchenpot",
+    "Grab the smooth sauce can and place it beside the medium black kitchenpot with lid",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the round black kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the round black kitchenpot",
+    "Pick up the smooth sauce can and move it near the round black kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the round black kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the shiny black kitchenpot",
+    "Grab the smooth sauce can and place it near the medium black kitchenpot with lid",
+    "Grab the smooth sauce can and move it near the shiny black kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the round black kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the round black kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the medium black kitchenpot with lid",
+    "Use the left arm to pick up the smooth sauce can, move it near the shiny black kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the shiny black kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the round black kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the round black kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the round black kitchenpot",
+    "Grab the yellow label on sauce can and place it near the shiny black kitchenpot",
+    "Grab the smooth sauce can and move it near the shiny black kitchenpot",
+    "Lift the smooth sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the left arm to grab the yellow label on sauce can and place it by the round black kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the medium black kitchenpot with lid",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the medium black kitchenpot with lid",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the medium black kitchenpot with lid",
+    "Pick up the smooth sauce can and move it near the shiny black kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the brown sauce can with top lid and set it beside the shiny black kitchenpot",
+    "Grab the smooth sauce can and place it near the medium black kitchenpot with lid",
+    "Grab the smooth sauce can and move it near the medium black kitchenpot with lid",
+    "Lift the yellow label on sauce can and set it beside the shiny black kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the shiny black kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the medium black kitchenpot with lid",
+    "Use the left arm to pick up the smooth sauce can, move it near the medium black kitchenpot with lid",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the medium black kitchenpot with lid",
+    "Pick up the brown sauce can with top lid and move it near the round black kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the medium black kitchenpot with lid",
+    "Grab the brown sauce can with top lid and set it beside the shiny black kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the shiny black kitchenpot",
+    "Grab the smooth sauce can and move it near the medium black kitchenpot with lid",
+    "Lift the brown sauce can with top lid and set it beside the medium black kitchenpot with lid",
+    "Use the left arm to grab the yellow label on sauce can and place it by the shiny black kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the medium black kitchenpot with lid",
+    "Use the left arm to pick up the smooth sauce can, move it near the round black kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the shiny black kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the medium black kitchenpot with lid",
+    "Pick up the brown sauce can with top lid and set it beside the shiny black kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the shiny black kitchenpot",
+    "Grab the smooth sauce can and place it near the shiny black kitchenpot",
+    "Grab the smooth sauce can and move it near the shiny black kitchenpot",
+    "Lift the smooth sauce can and set it beside the shiny black kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the medium black kitchenpot with lid",
+    "Grab the brown sauce can with top lid and place it beside the medium black kitchenpot with lid",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the round black kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the medium black kitchenpot with lid",
+    "Pick up the brown sauce can with top lid and move it near the round black kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the round black kitchenpot",
+    "Grab the smooth sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the smooth sauce can and place it near the shiny black kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the round black kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the round black kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the round black kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the shiny black kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the shiny black kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the round black kitchenpot",
+    "Pick up the smooth sauce can and move it near the medium black kitchenpot with lid",
+    "Pick up the smooth sauce can and set it beside the round black kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the shiny black kitchenpot",
+    "Grab the smooth sauce can and place it near the round black kitchenpot",
+    "Grab the yellow label on sauce can and move it near the round black kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the medium black kitchenpot with lid",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the medium black kitchenpot with lid",
+    "Grab the brown sauce can with top lid and place it beside the medium black kitchenpot with lid",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the medium black kitchenpot with lid",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the shiny black kitchenpot",
+    "Pick up the smooth sauce can and move it near the round black kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the yellow label on sauce can and set it beside the shiny black kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the shiny black kitchenpot",
+    "Grab the brown sauce can with top lid and move it near the shiny black kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the left arm to grab the smooth sauce can and place it by the medium black kitchenpot with lid",
+    "Grab the yellow label on sauce can and place it beside the shiny black kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the round black kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the round black kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the round black kitchenpot"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001078.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the sauce can for condiments beside the blue kitchenpot lid with black knob after picking it up",
+    "Use the left arm to move the smooth cylindrical sauce can beside the kitchenpot with plastic knob on lid",
+    "With the left arm, grab the metal sauce can and move to the metal pot with dark handles",
+    "Grab the sauce can for condiments with the left arm and set it near the blue-lid kitchenpot",
+    "Pick the medium sauce can up and carefully position it beside the gray pot with blue circular lid",
+    "Lift the metal sauce can and set it beside the metal pot with dark handles",
+    "Lift the medium sauce can and move it near the pots for boiling and cooking",
+    "Use the left arm to pick the metal sauce can, position it near the matte gray pot with durable lid",
+    "Pick up the cylindrical sauce can using the left arm, transfer it beside the round blue-lid kitchenpot for stovetop",
+    "Use the left arm to grab the metal sauce can and transfer it near the gray kitchenpot",
+    "Lift the yellow label sauce can, place it by the metal pot with dark handles",
+    "Lift the yellow label sauce can, then place it next to the gray pot with blue circular lid",
+    "Grab the brown sauce can with the left arm and move it close to the gray kitchenpot",
+    "Grab the brown top sauce can, shift it, and place it close to the blue-lid kitchenpot",
+    "Use the left arm to lift the sauce can for condiments and place it next to the pots for boiling and cooking",
+    "Lift the yellow label sauce can using the left arm and position it by the kitchenpot with plastic knob on lid",
+    "Grab the yellow label sauce can, move it to the gray pot with blue circular lid's side",
+    "Using the left arm, lift the metal sauce can and place it by the cooking pot with two handles",
+    "Use the left arm to lift the smooth cylindrical sauce can and place it near the cooking pot with two handles",
+    "Lift the printed label sauce can and place it next to the blue-lid kitchenpot",
+    "Take the yellow and brown sauce can with the left arm, bring it, and set next to the matte gray pot with durable lid",
+    "Set the sauce can for condiments right next to the gray cylindrical pot",
+    "Pick the medium sauce can up with the left arm then place near the metal pot with dark handles",
+    "Pick the printed label sauce can with the left arm and relocate it near the gray cylindrical pot",
+    "Bring the metal sauce can over and set it near the metal kitchenpot with brown handles",
+    "Use the left arm to grab the cylindrical sauce can and move it next to the cooking pot with two handles",
+    "Take the cylindrical sauce can using the left arm, set it next to the matte gray pot with durable lid",
+    "Pick the cylindrical sauce can and position it next to the cooking pot with two handles",
+    "Place the yellow and brown sauce can next to the gray kitchenpot",
+    "Grab the medium sauce can and move it close to the gray pot with blue circular lid",
+    "Grab the medium sauce can with the left arm and position it beside the cooking pot with two handles",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the matte gray pot with durable lid",
+    "Pick the brown sauce can up and move it next to the gray cylindrical pot",
+    "Move the sauce can with brown lid to be next to the cooking pot with two handles",
+    "Use the left arm to grab the metal sauce can and move it beside the blue-lid kitchenpot",
+    "Take the yellow label sauce can with the left arm, place it near the kitchenpot with plastic knob on lid",
+    "Set the smooth cylindrical sauce can near the blue kitchenpot lid with black knob after picking it up",
+    "Move the sauce can with ingredient information from its spot to near the metal kitchenpot with brown handles",
+    "Use the left arm to pick the cylindrical sauce can up and set it beside the blue kitchenpot lid with black knob",
+    "Lift the sauce can with ingredient information using the left arm and drop it beside the kitchenpot with plastic knob on lid",
+    "Use the left arm to take the smooth cylindrical sauce can to the kitchenpot with plastic knob on lid",
+    "Take the medium sauce can to the round blue-lid kitchenpot for stovetop using the left arm",
+    "Grab the yellow and brown sauce can, move it, and place by the metal kitchenpot with brown handles",
+    "Move the brown top sauce can beside the gray kitchenpot after lifting it",
+    "Use the left arm to lift the smooth cylindrical sauce can, then move it next to the gray cylindrical pot",
+    "Pick up the printed label sauce can and put it beside the metal kitchenpot with brown handles",
+    "Pick up the yellow and brown sauce can with the left arm and set by the metal pot with dark handles",
+    "Move the medium sauce can to the kitchenpot with plastic knob on lid with the left arm",
+    "Lift the cylindrical sauce can and set it next to the cooking pot with two handles",
+    "Lift the brown top sauce can and set it next to the metal pot with dark handles",
+    "Place the cylindrical sauce can beside the round blue-lid kitchenpot for stovetop after picking it up",
+    "Use the left arm to move the yellow and brown sauce can beside the round blue-lid kitchenpot for stovetop",
+    "With the left arm, grab the yellow label sauce can and move to the gray pot with blue circular lid",
+    "Grab the cylindrical sauce can with the left arm and set it near the metal kitchenpot with brown handles",
+    "Pick the cylindrical sauce can up and carefully position it beside the metal kitchenpot with brown handles",
+    "Lift the brown top sauce can and set it beside the gray pot with blue circular lid",
+    "Lift the brown top sauce can and move it near the round blue-lid kitchenpot for stovetop",
+    "Use the left arm to pick the smooth cylindrical sauce can, position it near the blue kitchenpot lid with black knob",
+    "Pick up the sauce can for condiments using the left arm, transfer it beside the cooking pot with two handles",
+    "Use the left arm to grab the yellow label sauce can and transfer it near the gray pot with blue circular lid",
+    "Lift the yellow label sauce can, place it by the gray pot with blue circular lid",
+    "Lift the sauce can for condiments, then place it next to the metal kitchenpot with brown handles",
+    "Grab the sauce can with ingredient information with the left arm and move it close to the matte gray pot with durable lid",
+    "Grab the cylindrical sauce can, shift it, and place it close to the kitchenpot with plastic knob on lid",
+    "Use the left arm to lift the medium sauce can and place it next to the round blue-lid kitchenpot for stovetop",
+    "Lift the yellow and brown sauce can using the left arm and position it by the round blue-lid kitchenpot for stovetop",
+    "Grab the sauce can with brown lid, move it to the kitchenpot with plastic knob on lid's side",
+    "Using the left arm, lift the sauce can with ingredient information and place it by the metal pot with dark handles",
+    "Use the left arm to lift the smooth cylindrical sauce can and place it near the gray kitchenpot",
+    "Lift the sauce can with brown lid and place it next to the blue-lid kitchenpot",
+    "Take the brown top sauce can with the left arm, bring it, and set next to the metal pot with dark handles",
+    "Set the medium sauce can right next to the metal pot with dark handles",
+    "Pick the metal sauce can up with the left arm then place near the matte gray pot with durable lid",
+    "Pick the brown top sauce can with the left arm and relocate it near the gray cylindrical pot",
+    "Bring the sauce can for condiments over and set it near the blue kitchenpot lid with black knob",
+    "Use the left arm to grab the yellow and brown sauce can and move it next to the blue-lid kitchenpot",
+    "Take the yellow label sauce can using the left arm, set it next to the blue kitchenpot lid with black knob",
+    "Pick the yellow and brown sauce can and position it next to the pots for boiling and cooking",
+    "Place the brown sauce can next to the cooking pot with two handles",
+    "Grab the yellow and brown sauce can and move it close to the gray pot with blue circular lid",
+    "Grab the medium sauce can with the left arm and position it beside the gray pot with blue circular lid",
+    "Use the left arm to grab the yellow and brown sauce can, move it beside the pots for boiling and cooking",
+    "Pick the yellow label sauce can up and move it next to the metal pot with dark handles",
+    "Move the smooth cylindrical sauce can to be next to the metal pot with dark handles",
+    "Use the left arm to grab the printed label sauce can and move it beside the blue-lid kitchenpot",
+    "Take the printed label sauce can with the left arm, place it near the blue-lid kitchenpot",
+    "Set the brown top sauce can near the matte gray pot with durable lid after picking it up",
+    "Move the sauce can with ingredient information from its spot to near the matte gray pot with durable lid",
+    "Use the left arm to pick the sauce can with brown lid up and set it beside the gray kitchenpot",
+    "Lift the cylindrical sauce can using the left arm and drop it beside the gray pot with blue circular lid",
+    "Use the left arm to take the sauce can with ingredient information to the cooking pot with two handles",
+    "Take the printed label sauce can to the gray kitchenpot using the left arm",
+    "Grab the sauce can for condiments, move it, and place by the pots for boiling and cooking",
+    "Move the brown top sauce can beside the gray cylindrical pot after lifting it",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the matte gray pot with durable lid",
+    "Pick up the sauce can with brown lid and put it beside the pots for boiling and cooking",
+    "Pick up the printed label sauce can with the left arm and set by the kitchenpot with plastic knob on lid",
+    "Move the yellow label sauce can to the gray kitchenpot with the left arm",
+    "Lift the sauce can with brown lid and set it next to the cooking pot with two handles",
+    "Lift the printed label sauce can and set it next to the gray kitchenpot"
+  ],
+  "unseen": [
+    "Grab the metal body sauce can and place it near the medium stove pot",
+    "Lift the metal body sauce can and set it beside the round pot with blue top",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the medium stove pot",
+    "Pick up the sauce can with smooth surface and move it near the medium stove pot",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the medium stove pot",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the medium stove pot",
+    "Grab the sauce can with smooth surface and set it beside the round pot with blue top",
+    "Pick up the metal body sauce can and set it beside the medium stove pot",
+    "Grab the hand-sized sauce can and move it near the kitchenpot with smooth matte body",
+    "Grab the metal body sauce can and place it beside the medium stove pot",
+    "Grab the metal body sauce can and place it near the kitchenpot with smooth matte body",
+    "Lift the sauce can with smooth surface and set it beside the medium stove pot",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the kitchenpot with smooth matte body",
+    "Pick up the metal body sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the metal body sauce can and move it beside the medium stove pot",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the round pot with blue top",
+    "Grab the hand-sized sauce can and set it beside the kitchenpot with smooth matte body",
+    "Pick up the hand-sized sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can with smooth surface and move it near the kitchenpot with smooth matte body",
+    "Grab the sauce can with smooth surface and place it beside the round pot with blue top",
+    "Grab the sauce can with smooth surface and place it near the medium stove pot",
+    "Lift the metal body sauce can and set it beside the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the kitchenpot with smooth matte body",
+    "Pick up the metal body sauce can and move it near the round pot with blue top",
+    "Use the left arm to pick up the metal body sauce can and move it beside the medium stove pot",
+    "Use the left arm to grab the metal body sauce can and place it by the round pot with blue top",
+    "Grab the hand-sized sauce can and set it beside the kitchenpot with smooth matte body",
+    "Pick up the metal body sauce can and set it beside the round pot with blue top",
+    "Grab the sauce can with smooth surface and move it near the kitchenpot with smooth matte body",
+    "Grab the hand-sized sauce can and place it beside the kitchenpot with smooth matte body",
+    "Grab the metal body sauce can and place it near the kitchenpot with smooth matte body",
+    "Lift the hand-sized sauce can and set it beside the medium stove pot",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the round pot with blue top",
+    "Pick up the hand-sized sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the medium stove pot",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the kitchenpot with smooth matte body",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot with smooth matte body",
+    "Pick up the sauce can with smooth surface and set it beside the round pot with blue top",
+    "Grab the metal body sauce can and move it near the kitchenpot with smooth matte body",
+    "Grab the hand-sized sauce can and place it beside the medium stove pot",
+    "Grab the hand-sized sauce can and place it near the round pot with blue top",
+    "Lift the sauce can with smooth surface and set it beside the medium stove pot",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the medium stove pot",
+    "Pick up the metal body sauce can and move it near the round pot with blue top",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the kitchenpot with smooth matte body",
+    "Use the left arm to grab the hand-sized sauce can and place it by the kitchenpot with smooth matte body",
+    "Grab the hand-sized sauce can and set it beside the medium stove pot",
+    "Pick up the metal body sauce can and set it beside the medium stove pot",
+    "Grab the metal body sauce can and move it near the medium stove pot",
+    "Grab the sauce can with smooth surface and place it beside the medium stove pot",
+    "Grab the metal body sauce can and place it near the kitchenpot with smooth matte body",
+    "Lift the sauce can with smooth surface and set it beside the round pot with blue top",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the medium stove pot",
+    "Pick up the sauce can with smooth surface and move it near the medium stove pot",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the round pot with blue top",
+    "Use the left arm to grab the metal body sauce can and place it by the kitchenpot with smooth matte body",
+    "Grab the hand-sized sauce can and set it beside the round pot with blue top",
+    "Pick up the metal body sauce can and set it beside the medium stove pot",
+    "Grab the sauce can with smooth surface and move it near the kitchenpot with smooth matte body",
+    "Grab the sauce can with smooth surface and place it beside the medium stove pot",
+    "Grab the sauce can with smooth surface and place it near the medium stove pot",
+    "Lift the metal body sauce can and set it beside the round pot with blue top",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the round pot with blue top",
+    "Pick up the hand-sized sauce can and move it near the medium stove pot",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the medium stove pot",
+    "Use the left arm to grab the hand-sized sauce can and place it by the kitchenpot with smooth matte body",
+    "Grab the sauce can with smooth surface and set it beside the medium stove pot",
+    "Pick up the hand-sized sauce can and set it beside the medium stove pot",
+    "Grab the hand-sized sauce can and move it near the round pot with blue top",
+    "Grab the hand-sized sauce can and place it beside the medium stove pot",
+    "Grab the sauce can with smooth surface and place it near the round pot with blue top",
+    "Lift the metal body sauce can and set it beside the medium stove pot",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the round pot with blue top",
+    "Pick up the metal body sauce can and move it near the medium stove pot",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the round pot with blue top",
+    "Use the left arm to grab the hand-sized sauce can and place it by the medium stove pot",
+    "Grab the metal body sauce can and set it beside the kitchenpot with smooth matte body",
+    "Pick up the hand-sized sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can with smooth surface and move it near the kitchenpot with smooth matte body",
+    "Grab the hand-sized sauce can and place it beside the medium stove pot",
+    "Grab the metal body sauce can and place it near the round pot with blue top",
+    "Lift the hand-sized sauce can and set it beside the round pot with blue top",
+    "Use the left arm to pick up the metal body sauce can, move it near the round pot with blue top",
+    "Pick up the hand-sized sauce can and move it near the medium stove pot",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the medium stove pot",
+    "Use the left arm to grab the hand-sized sauce can and place it by the kitchenpot with smooth matte body",
+    "Grab the hand-sized sauce can and set it beside the kitchenpot with smooth matte body",
+    "Pick up the sauce can with smooth surface and set it beside the medium stove pot",
+    "Grab the metal body sauce can and move it near the round pot with blue top",
+    "Grab the hand-sized sauce can and place it beside the medium stove pot",
+    "Grab the metal body sauce can and place it near the kitchenpot with smooth matte body",
+    "Lift the sauce can with smooth surface and set it beside the round pot with blue top",
+    "Use the left arm to pick up the metal body sauce can, move it near the medium stove pot",
+    "Pick up the metal body sauce can and move it near the round pot with blue top",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the round pot with blue top",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the round pot with blue top",
+    "Grab the metal body sauce can and set it beside the medium stove pot",
+    "Pick up the sauce can with smooth surface and set it beside the medium stove pot",
+    "Grab the sauce can with smooth surface and move it near the round pot with blue top",
+    "Grab the metal body sauce can and place it beside the medium stove pot"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001080.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the cylindrical can brown round top using the right arm and drop it beside the gray cylindrical pot",
+    "Lift the white sauce can brown top and move it near the round blue-lid kitchenpot for stovetop",
+    "Use the right arm to pick the cylindrical can brown round top up and set it beside the metal pot with dark handles",
+    "Use the right arm to lift the metal can with plastic lid and place it near the round blue-lid kitchenpot for stovetop",
+    "Use the right arm to lift the white sauce can with label, then move it next to the gray kitchenpot",
+    "Use the right arm to grab the white sauce can brown top and move it beside the metal pot with dark handles",
+    "Grab the smooth metal sauce can white with the right arm and position it beside the blue-lid kitchenpot",
+    "Set the brown-lid sauce can near the round blue-lid kitchenpot for stovetop after picking it up",
+    "With the right arm, grab the smooth metal sauce can white and move to the cooking pot with two handles",
+    "Grab the white sauce can with label with the right arm and move it close to the matte gray pot with durable lid",
+    "Grab the brown-lid sauce can, shift it, and place it close to the pots for boiling and cooking",
+    "Use the right arm to take the brown top white sauce can to the metal pot with dark handles",
+    "Move the white sauce can with label beside the blue kitchenpot lid with black knob after lifting it",
+    "Move the cylindrical can brown round top from its spot to near the pots for boiling and cooking",
+    "Use the right arm to lift the white sauce can with label and place it next to the metal pot with dark handles",
+    "Take the hand-held sauce container to the matte gray pot with durable lid using the right arm",
+    "Lift the brown cap sauce storage can using the right arm and position it by the round blue-lid kitchenpot for stovetop",
+    "Take the white sauce can with label with the right arm, bring it, and set next to the blue-lid kitchenpot",
+    "Place the white sauce can with label beside the metal pot with dark handles after picking it up",
+    "Pick up the cylindrical can brown round top using the right arm, transfer it beside the gray pot with blue circular lid",
+    "Place the cylindrical container for sauce next to the blue kitchenpot lid with black knob",
+    "Grab the smooth metal sauce can white with the right arm and set it near the metal kitchenpot with brown handles",
+    "Pick up the brown cap sauce storage can with the right arm and set by the pots for boiling and cooking",
+    "Grab the white cylindrical sauce holder, move it, and place by the blue kitchenpot lid with black knob",
+    "Lift the white sauce can brown top and place it next to the metal pot with dark handles",
+    "Use the right arm to grab the white label brown lidded can and transfer it near the gray pot with blue circular lid",
+    "Lift the brown-lid sauce can and set it next to the metal pot with dark handles",
+    "Pick up the cylindrical can brown round top and put it beside the matte gray pot with durable lid",
+    "Lift the brown-lid sauce can, then place it next to the kitchenpot with plastic knob on lid",
+    "Pick the brown-lid sauce can up with the right arm then place near the round blue-lid kitchenpot for stovetop",
+    "Use the right arm to move the metal can with plastic lid beside the cooking pot with two handles",
+    "Grab the white sauce can brown top, move it to the gray pot with blue circular lid's side",
+    "Take the cylindrical container for sauce with the right arm, place it near the gray pot with blue circular lid",
+    "Use the right arm to grab the brown-lid sauce can, move it beside the cooking pot with two handles",
+    "Lift the smooth metal sauce can white and set it beside the round blue-lid kitchenpot for stovetop",
+    "Pick the hand-held sauce container and position it next to the blue kitchenpot lid with black knob",
+    "Pick the brown cap sauce storage can up and carefully position it beside the kitchenpot with plastic knob on lid",
+    "Bring the brown cap sauce storage can over and set it near the metal kitchenpot with brown handles",
+    "Grab the cylindrical container for sauce and move it close to the metal kitchenpot with brown handles",
+    "Take the white label brown lidded can using the right arm, set it next to the gray pot with blue circular lid",
+    "Set the brown cap sauce storage can right next to the metal pot with dark handles",
+    "Move the metal can with plastic lid to be next to the gray pot with blue circular lid",
+    "Use the right arm to grab the white cylindrical sauce holder and move it next to the blue kitchenpot lid with black knob",
+    "Lift the smooth metal sauce can white and set it next to the blue kitchenpot lid with black knob",
+    "Pick the cylindrical can brown round top up and move it next to the cooking pot with two handles",
+    "Lift the cylindrical can brown round top, place it by the kitchenpot with plastic knob on lid",
+    "Move the cylindrical can brown round top to the kitchenpot with plastic knob on lid with the right arm",
+    "Use the right arm to pick the white label brown lidded can, position it near the metal kitchenpot with brown handles",
+    "Pick the hand-held sauce container with the right arm and relocate it near the blue-lid kitchenpot",
+    "Using the right arm, lift the brown-lid sauce can and place it by the blue-lid kitchenpot",
+    "Lift the smooth metal sauce can white using the right arm and drop it beside the gray pot with blue circular lid",
+    "Lift the cylindrical container for sauce and move it near the blue-lid kitchenpot",
+    "Use the right arm to pick the brown cap sauce storage can up and set it beside the gray pot with blue circular lid",
+    "Use the right arm to lift the white label brown lidded can and place it near the metal pot with dark handles",
+    "Use the right arm to lift the brown-lid sauce can, then move it next to the blue kitchenpot lid with black knob",
+    "Use the right arm to grab the cylindrical container for sauce and move it beside the matte gray pot with durable lid",
+    "Grab the white label brown lidded can with the right arm and position it beside the matte gray pot with durable lid",
+    "Set the brown cap sauce storage can near the kitchenpot with plastic knob on lid after picking it up",
+    "With the right arm, grab the brown top white sauce can and move to the metal kitchenpot with brown handles",
+    "Grab the cylindrical container for sauce with the right arm and move it close to the blue kitchenpot lid with black knob",
+    "Grab the cylindrical container for sauce, shift it, and place it close to the blue-lid kitchenpot",
+    "Use the right arm to take the brown cap sauce storage can to the gray pot with blue circular lid",
+    "Move the white sauce can with label beside the gray kitchenpot after lifting it",
+    "Move the white cylindrical sauce holder from its spot to near the cooking pot with two handles",
+    "Use the right arm to lift the brown-lid sauce can and place it next to the kitchenpot with plastic knob on lid",
+    "Take the white label brown lidded can to the gray kitchenpot using the right arm",
+    "Lift the brown top white sauce can using the right arm and position it by the round blue-lid kitchenpot for stovetop",
+    "Take the cylindrical can brown round top with the right arm, bring it, and set next to the gray kitchenpot",
+    "Place the cylindrical container for sauce beside the cooking pot with two handles after picking it up",
+    "Pick up the cylindrical can brown round top using the right arm, transfer it beside the round blue-lid kitchenpot for stovetop",
+    "Place the brown-lid sauce can next to the matte gray pot with durable lid",
+    "Grab the smooth metal sauce can white with the right arm and set it near the metal pot with dark handles",
+    "Pick up the white label brown lidded can with the right arm and set by the pots for boiling and cooking",
+    "Grab the white sauce can brown top, move it, and place by the blue-lid kitchenpot",
+    "Lift the white label brown lidded can and place it next to the gray kitchenpot",
+    "Use the right arm to grab the white sauce can brown top and transfer it near the matte gray pot with durable lid",
+    "Lift the metal can with plastic lid and set it next to the gray kitchenpot",
+    "Pick up the cylindrical container for sauce and put it beside the round blue-lid kitchenpot for stovetop",
+    "Lift the metal can with plastic lid, then place it next to the kitchenpot with plastic knob on lid",
+    "Pick the brown-lid sauce can up with the right arm then place near the gray pot with blue circular lid",
+    "Use the right arm to move the white cylindrical sauce holder beside the matte gray pot with durable lid",
+    "Grab the white sauce can brown top, move it to the blue kitchenpot lid with black knob's side",
+    "Take the white sauce can with label with the right arm, place it near the kitchenpot with plastic knob on lid",
+    "Use the right arm to grab the white label brown lidded can, move it beside the gray kitchenpot",
+    "Lift the smooth metal sauce can white and set it beside the pots for boiling and cooking",
+    "Pick the white cylindrical sauce holder and position it next to the matte gray pot with durable lid",
+    "Pick the hand-held sauce container up and carefully position it beside the kitchenpot with plastic knob on lid",
+    "Bring the brown cap sauce storage can over and set it near the pots for boiling and cooking",
+    "Grab the white sauce can brown top and move it close to the blue-lid kitchenpot",
+    "Take the white label brown lidded can using the right arm, set it next to the gray pot with blue circular lid",
+    "Set the cylindrical can brown round top right next to the blue-lid kitchenpot",
+    "Move the cylindrical can brown round top to be next to the cooking pot with two handles",
+    "Use the right arm to grab the hand-held sauce container and move it next to the metal kitchenpot with brown handles",
+    "Lift the cylindrical can brown round top and set it next to the gray cylindrical pot",
+    "Pick the white sauce can brown top up and move it next to the gray cylindrical pot",
+    "Lift the brown top white sauce can, place it by the gray kitchenpot",
+    "Move the white sauce can with label to the blue kitchenpot lid with black knob with the right arm",
+    "Use the right arm to pick the brown cap sauce storage can, position it near the matte gray pot with durable lid",
+    "Pick the white sauce can with label with the right arm and relocate it near the pots for boiling and cooking",
+    "Using the right arm, lift the brown top white sauce can and place it by the pots for boiling and cooking"
+  ],
+  "unseen": [
+    "Lift the medium sauce can with white label and set it beside the round pot with blue top",
+    "Use the right arm to pick up the medium sauce can with white label, move it near the round pot with blue top",
+    "Grab the medium sauce can with white label and set it beside the kitchenpot with smooth matte body",
+    "Grab the medium-size cylindrical sauce can and move it near the round pot with blue top",
+    "Grab the medium sauce can with white label and place it beside the kitchenpot with smooth matte body",
+    "Pick up the sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the right arm to grab the medium sauce can with white label and place it by the round pot with blue top",
+    "Pick up the medium-size cylindrical sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the medium sauce can with white label and place it near the medium stove pot",
+    "Use the right arm to pick up the sauce can and move it beside the round pot with blue top",
+    "Lift the medium sauce can with white label and set it beside the round pot with blue top",
+    "Use the right arm to pick up the sauce can, move it near the medium stove pot",
+    "Grab the sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can and move it near the kitchenpot with smooth matte body",
+    "Grab the medium-size cylindrical sauce can and place it beside the round pot with blue top",
+    "Pick up the sauce can and move it near the round pot with blue top",
+    "Use the right arm to grab the medium sauce can with white label and place it by the medium stove pot",
+    "Pick up the sauce can and set it beside the medium stove pot",
+    "Grab the medium-size cylindrical sauce can and place it near the kitchenpot with smooth matte body",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the medium stove pot",
+    "Lift the sauce can and set it beside the medium stove pot",
+    "Use the right arm to pick up the medium sauce can with white label, move it near the round pot with blue top",
+    "Grab the medium sauce can with white label and set it beside the medium stove pot",
+    "Grab the sauce can and move it near the medium stove pot",
+    "Grab the sauce can and place it beside the medium stove pot",
+    "Pick up the medium-size cylindrical sauce can and move it near the round pot with blue top",
+    "Use the right arm to grab the medium-size cylindrical sauce can and place it by the medium stove pot",
+    "Pick up the medium sauce can with white label and set it beside the kitchenpot with smooth matte body",
+    "Grab the medium-size cylindrical sauce can and place it near the medium stove pot",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the medium stove pot",
+    "Lift the medium-size cylindrical sauce can and set it beside the kitchenpot with smooth matte body",
+    "Use the right arm to pick up the medium sauce can with white label, move it near the kitchenpot with smooth matte body",
+    "Grab the medium-size cylindrical sauce can and set it beside the round pot with blue top",
+    "Grab the sauce can and move it near the kitchenpot with smooth matte body",
+    "Grab the sauce can and place it beside the medium stove pot",
+    "Pick up the sauce can and move it near the round pot with blue top",
+    "Use the right arm to grab the medium-size cylindrical sauce can and place it by the medium stove pot",
+    "Pick up the medium sauce can with white label and set it beside the round pot with blue top",
+    "Grab the medium sauce can with white label and place it near the kitchenpot with smooth matte body",
+    "Use the right arm to pick up the medium-size cylindrical sauce can and move it beside the kitchenpot with smooth matte body",
+    "Lift the sauce can and set it beside the kitchenpot with smooth matte body",
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the kitchenpot with smooth matte body",
+    "Grab the sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the medium sauce can with white label and move it near the medium stove pot",
+    "Grab the sauce can and place it beside the medium stove pot",
+    "Pick up the sauce can and move it near the round pot with blue top",
+    "Use the right arm to grab the medium-size cylindrical sauce can and place it by the kitchenpot with smooth matte body",
+    "Pick up the sauce can and set it beside the medium stove pot",
+    "Grab the medium sauce can with white label and place it near the round pot with blue top",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the kitchenpot with smooth matte body",
+    "Lift the sauce can and set it beside the kitchenpot with smooth matte body",
+    "Use the right arm to pick up the sauce can, move it near the round pot with blue top",
+    "Grab the sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can and move it near the kitchenpot with smooth matte body",
+    "Grab the medium-size cylindrical sauce can and place it beside the kitchenpot with smooth matte body",
+    "Pick up the medium sauce can with white label and move it near the round pot with blue top",
+    "Use the right arm to grab the medium-size cylindrical sauce can and place it by the round pot with blue top",
+    "Pick up the medium sauce can with white label and set it beside the kitchenpot with smooth matte body",
+    "Grab the medium sauce can with white label and place it near the medium stove pot",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the kitchenpot with smooth matte body",
+    "Lift the medium-size cylindrical sauce can and set it beside the kitchenpot with smooth matte body",
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the medium stove pot",
+    "Grab the medium sauce can with white label and set it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can and move it near the round pot with blue top",
+    "Grab the medium sauce can with white label and place it beside the round pot with blue top",
+    "Pick up the sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the right arm to grab the medium-size cylindrical sauce can and place it by the kitchenpot with smooth matte body",
+    "Pick up the sauce can and set it beside the round pot with blue top",
+    "Grab the sauce can and place it near the medium stove pot",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the round pot with blue top",
+    "Lift the medium-size cylindrical sauce can and set it beside the medium stove pot",
+    "Use the right arm to pick up the medium sauce can with white label, move it near the round pot with blue top",
+    "Grab the sauce can and set it beside the round pot with blue top",
+    "Grab the sauce can and move it near the round pot with blue top",
+    "Grab the medium sauce can with white label and place it beside the round pot with blue top",
+    "Pick up the sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the right arm to grab the sauce can and place it by the round pot with blue top",
+    "Pick up the medium sauce can with white label and set it beside the round pot with blue top",
+    "Grab the medium sauce can with white label and place it near the medium stove pot",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the round pot with blue top",
+    "Lift the medium sauce can with white label and set it beside the medium stove pot",
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the kitchenpot with smooth matte body",
+    "Grab the sauce can and set it beside the round pot with blue top",
+    "Grab the medium sauce can with white label and move it near the medium stove pot",
+    "Grab the medium-size cylindrical sauce can and place it beside the round pot with blue top",
+    "Pick up the sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the right arm to grab the medium-size cylindrical sauce can and place it by the medium stove pot",
+    "Pick up the medium sauce can with white label and set it beside the round pot with blue top",
+    "Grab the sauce can and place it near the medium stove pot",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the medium stove pot",
+    "Lift the sauce can and set it beside the kitchenpot with smooth matte body",
+    "Use the right arm to pick up the sauce can, move it near the kitchenpot with smooth matte body",
+    "Grab the medium sauce can with white label and set it beside the kitchenpot with smooth matte body",
+    "Grab the medium-size cylindrical sauce can and move it near the round pot with blue top",
+    "Grab the medium-size cylindrical sauce can and place it beside the round pot with blue top",
+    "Pick up the medium sauce can with white label and move it near the round pot with blue top",
+    "Use the right arm to grab the medium-size cylindrical sauce can and place it by the medium stove pot",
+    "Pick up the sauce can and set it beside the medium stove pot",
+    "Grab the medium sauce can with white label and place it near the kitchenpot with smooth matte body",
+    "Use the right arm to pick up the medium-size cylindrical sauce can and move it beside the kitchenpot with smooth matte body"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001088.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the cylindrical can brown round top with the left arm and relocate it near the cylindrical kitchenpot with flat edges",
+    "Lift the white sauce can brown top and set it next to the kitchenpot with sturdy plastic body",
+    "Lift the smooth metal sauce can white and set it beside the kitchenpot with red indicator light",
+    "Place the brown top white sauce can next to the smooth kitchenpot with black button",
+    "Use the left arm to grab the brown top white sauce can and move it next to the smooth kitchenpot with black button",
+    "Lift the cylindrical can brown round top, place it by the kitchenpot with red indicator light",
+    "Move the brown top white sauce can from its spot to near the cylindrical kitchenpot with flat edges",
+    "Set the brown cap sauce storage can near the grey kitchenpot after picking it up",
+    "With the left arm, grab the brown top white sauce can and move to the grey kitchenpot with dark circle inside",
+    "Pick the cylindrical can brown round top and position it next to the round kitchenpot",
+    "Grab the metal can with plastic lid with the left arm and move it close to the round kitchenpot",
+    "Use the left arm to lift the cylindrical can brown round top, then move it next to the kitchenpot with red indicator light",
+    "Use the left arm to grab the hand-held sauce container and move it beside the smooth kitchenpot with black button",
+    "Grab the hand-held sauce container with the left arm and position it beside the kitchenpot with red indicator light",
+    "Use the left arm to lift the white cylindrical sauce holder and place it near the kitchenpot with red indicator light",
+    "Take the cylindrical can brown round top with the left arm, place it near the smooth kitchenpot with black button",
+    "Set the brown-lid sauce can right next to the cylindrical kitchenpot with flat edges",
+    "Use the left arm to lift the white cylindrical sauce holder and place it next to the matte-finished kitchenpot",
+    "Pick up the metal can with plastic lid using the left arm, transfer it beside the grey kitchenpot with dark circle inside",
+    "Pick the cylindrical container for sauce up and carefully position it beside the light grey kitchenpot with dark top",
+    "Grab the cylindrical can brown round top, move it, and place by the kitchenpot with black base",
+    "Lift the white label brown lidded can and set it next to the light grey kitchenpot with dark top",
+    "Pick the white cylindrical sauce holder up and move it next to the cylindrical kitchenpot with flat edges",
+    "Lift the brown top white sauce can using the left arm and position it by the cylindrical kitchenpot with flat edges",
+    "Pick the cylindrical container for sauce up with the left arm then place near the light grey kitchenpot with dark top",
+    "Lift the smooth metal sauce can white and move it near the kitchenpot with two side handles",
+    "Pick up the brown top white sauce can and put it beside the kitchenpot with red indicator light",
+    "Bring the brown cap sauce storage can over and set it near the kitchenpot with red indicator light",
+    "Take the hand-held sauce container to the grey kitchenpot with dark circle inside using the left arm",
+    "Grab the metal can with plastic lid and move it close to the grey kitchenpot",
+    "Place the white sauce can with label beside the light grey kitchenpot with dark top after picking it up",
+    "Grab the white cylindrical sauce holder, move it to the cylindrical kitchenpot with flat edges's side",
+    "Grab the brown cap sauce storage can with the left arm and set it near the light grey kitchenpot with dark top",
+    "Use the left arm to take the white sauce can brown top to the grey kitchenpot",
+    "Pick up the metal can with plastic lid with the left arm and set by the kitchenpot with two side handles",
+    "Use the left arm to grab the white label brown lidded can, move it beside the kitchenpot with black rectangular panel",
+    "Move the brown top white sauce can to be next to the kitchenpot with sturdy plastic body",
+    "Lift the metal can with plastic lid and place it next to the kitchenpot with black rectangular panel",
+    "Grab the white sauce can brown top, shift it, and place it close to the kitchenpot with black rectangular panel",
+    "Lift the brown-lid sauce can, then place it next to the light grey kitchenpot with dark top",
+    "Use the left arm to move the cylindrical container for sauce beside the round kitchenpot",
+    "Use the left arm to pick the white cylindrical sauce holder up and set it beside the grey kitchenpot with dark circle inside",
+    "Use the left arm to pick the brown cap sauce storage can, position it near the kitchenpot with two side handles",
+    "Lift the brown-lid sauce can using the left arm and drop it beside the grey kitchenpot with dark circle inside",
+    "Move the brown cap sauce storage can beside the kitchenpot with sturdy plastic body after lifting it",
+    "Take the cylindrical container for sauce using the left arm, set it next to the cylindrical kitchenpot with flat edges",
+    "Using the left arm, lift the white label brown lidded can and place it by the light grey kitchenpot with dark top",
+    "Take the cylindrical container for sauce with the left arm, bring it, and set next to the round kitchenpot",
+    "Use the left arm to grab the brown-lid sauce can and transfer it near the kitchenpot with sturdy plastic body",
+    "Move the white label brown lidded can to the kitchenpot with two side handles with the left arm",
+    "Pick the brown cap sauce storage can with the left arm and relocate it near the kitchenpot with sturdy plastic body",
+    "Lift the white label brown lidded can and set it next to the grey kitchenpot",
+    "Lift the brown cap sauce storage can and set it beside the kitchenpot with two side handles",
+    "Place the brown top white sauce can next to the grey kitchenpot with dark circle inside",
+    "Use the left arm to grab the smooth metal sauce can white and move it next to the grey kitchenpot",
+    "Lift the cylindrical can brown round top, place it by the grey kitchenpot with dark circle inside",
+    "Move the white label brown lidded can from its spot to near the kitchenpot with red indicator light",
+    "Set the white sauce can brown top near the smooth kitchenpot with black button after picking it up",
+    "With the left arm, grab the cylindrical can brown round top and move to the grey kitchenpot with dark circle inside",
+    "Pick the white sauce can brown top and position it next to the kitchenpot with two side handles",
+    "Grab the hand-held sauce container with the left arm and move it close to the matte-finished kitchenpot",
+    "Use the left arm to lift the metal can with plastic lid, then move it next to the round kitchenpot",
+    "Use the left arm to grab the cylindrical can brown round top and move it beside the grey kitchenpot",
+    "Grab the white label brown lidded can with the left arm and position it beside the smooth kitchenpot with black button",
+    "Use the left arm to lift the cylindrical container for sauce and place it near the round kitchenpot",
+    "Take the cylindrical container for sauce with the left arm, place it near the grey kitchenpot with dark circle inside",
+    "Set the white sauce can brown top right next to the light grey kitchenpot with dark top",
+    "Use the left arm to lift the cylindrical container for sauce and place it next to the smooth kitchenpot with black button",
+    "Pick up the white cylindrical sauce holder using the left arm, transfer it beside the smooth kitchenpot with black button",
+    "Pick the white cylindrical sauce holder up and carefully position it beside the matte-finished kitchenpot",
+    "Grab the cylindrical can brown round top, move it, and place by the smooth kitchenpot with black button",
+    "Lift the hand-held sauce container and set it next to the kitchenpot with red indicator light",
+    "Pick the hand-held sauce container up and move it next to the grey kitchenpot",
+    "Lift the cylindrical can brown round top using the left arm and position it by the cylindrical kitchenpot with flat edges",
+    "Pick the white label brown lidded can up with the left arm then place near the kitchenpot with black rectangular panel",
+    "Lift the white sauce can with label and move it near the kitchenpot with black rectangular panel",
+    "Pick up the white sauce can with label and put it beside the kitchenpot with sturdy plastic body",
+    "Bring the white label brown lidded can over and set it near the grey kitchenpot with dark circle inside",
+    "Take the brown cap sauce storage can to the grey kitchenpot with dark circle inside using the left arm",
+    "Grab the cylindrical container for sauce and move it close to the cylindrical kitchenpot with flat edges",
+    "Place the white sauce can brown top beside the kitchenpot with black base after picking it up",
+    "Grab the white label brown lidded can, move it to the kitchenpot with black base's side",
+    "Grab the white label brown lidded can with the left arm and set it near the matte-finished kitchenpot",
+    "Use the left arm to take the cylindrical can brown round top to the matte-finished kitchenpot",
+    "Pick up the brown top white sauce can with the left arm and set by the cylindrical kitchenpot with flat edges",
+    "Use the left arm to grab the brown-lid sauce can, move it beside the grey kitchenpot with dark circle inside",
+    "Move the cylindrical container for sauce to be next to the cylindrical kitchenpot with flat edges",
+    "Lift the white label brown lidded can and place it next to the cylindrical kitchenpot with flat edges",
+    "Grab the cylindrical container for sauce, shift it, and place it close to the kitchenpot with sturdy plastic body",
+    "Lift the brown top white sauce can, then place it next to the kitchenpot with red indicator light",
+    "Use the left arm to move the cylindrical container for sauce beside the kitchenpot with black base",
+    "Use the left arm to pick the white label brown lidded can up and set it beside the cylindrical kitchenpot with flat edges",
+    "Use the left arm to pick the white cylindrical sauce holder, position it near the kitchenpot with sturdy plastic body",
+    "Lift the brown cap sauce storage can using the left arm and drop it beside the round kitchenpot",
+    "Move the metal can with plastic lid beside the grey kitchenpot after lifting it",
+    "Take the brown top white sauce can using the left arm, set it next to the kitchenpot with two side handles",
+    "Using the left arm, lift the brown cap sauce storage can and place it by the kitchenpot with sturdy plastic body",
+    "Take the brown top white sauce can with the left arm, bring it, and set next to the kitchenpot with two side handles",
+    "Use the left arm to grab the cylindrical can brown round top and transfer it near the kitchenpot with black rectangular panel",
+    "Move the metal can with plastic lid to the kitchenpot with red indicator light with the left arm"
+  ],
+  "unseen": [
+    "Grab the medium-size cylindrical sauce can and move it near the medium kitchenpot",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the kitchenpot for cooking food",
+    "Grab the sauce can and set it beside the kitchenpot for cooking food",
+    "Grab the medium sauce can with white label and place it beside the medium kitchenpot",
+    "Grab the medium sauce can with white label and place it near the kitchenpot for cooking food",
+    "Use the left arm to grab the medium-size cylindrical sauce can and place it by the medium kitchenpot",
+    "Pick up the sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the medium sauce can with white label and move it near the medium kitchenpot",
+    "Lift the medium-size cylindrical sauce can and set it beside the kitchenpot for cooking food",
+    "Use the left arm to pick up the sauce can and move it beside the kitchenpot for cooking food",
+    "Grab the sauce can and move it near the medium kitchenpot",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the compact kitchenpot with lid-like surface",
+    "Grab the medium-size cylindrical sauce can and set it beside the kitchenpot for cooking food",
+    "Grab the sauce can and place it beside the medium kitchenpot",
+    "Grab the sauce can and place it near the medium kitchenpot",
+    "Use the left arm to grab the sauce can and place it by the medium kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and set it beside the kitchenpot for cooking food",
+    "Pick up the medium sauce can with white label and move it near the kitchenpot for cooking food",
+    "Lift the sauce can and set it beside the kitchenpot for cooking food",
+    "Use the left arm to pick up the sauce can and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the medium sauce can with white label and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the medium kitchenpot",
+    "Grab the medium sauce can with white label and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the medium sauce can with white label and place it beside the kitchenpot for cooking food",
+    "Grab the medium sauce can with white label and place it near the kitchenpot for cooking food",
+    "Use the left arm to grab the sauce can and place it by the medium kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and set it beside the medium kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Lift the sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the medium kitchenpot",
+    "Grab the medium sauce can with white label and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the sauce can, move it near the compact kitchenpot with lid-like surface",
+    "Grab the medium-size cylindrical sauce can and set it beside the medium kitchenpot",
+    "Grab the medium-size cylindrical sauce can and place it beside the medium kitchenpot",
+    "Grab the sauce can and place it near the medium kitchenpot",
+    "Use the left arm to grab the medium sauce can with white label and place it by the compact kitchenpot with lid-like surface",
+    "Pick up the sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the medium-size cylindrical sauce can and move it near the medium kitchenpot",
+    "Lift the medium-size cylindrical sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the sauce can and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the medium sauce can with white label and move it near the medium kitchenpot",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the medium kitchenpot",
+    "Grab the medium sauce can with white label and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the sauce can and place it beside the medium kitchenpot",
+    "Grab the sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to grab the medium sauce can with white label and place it by the compact kitchenpot with lid-like surface",
+    "Pick up the sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the sauce can and move it near the kitchenpot for cooking food",
+    "Lift the medium sauce can with white label and set it beside the medium kitchenpot",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the medium kitchenpot",
+    "Grab the medium-size cylindrical sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the kitchenpot for cooking food",
+    "Grab the medium-size cylindrical sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the medium sauce can with white label and place it beside the medium kitchenpot",
+    "Grab the medium sauce can with white label and place it near the medium kitchenpot",
+    "Use the left arm to grab the sauce can and place it by the kitchenpot for cooking food",
+    "Pick up the medium-size cylindrical sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the medium sauce can with white label and move it near the compact kitchenpot with lid-like surface",
+    "Lift the medium sauce can with white label and set it beside the kitchenpot for cooking food",
+    "Use the left arm to pick up the medium sauce can with white label and move it beside the kitchenpot for cooking food",
+    "Grab the sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the sauce can, move it near the kitchenpot for cooking food",
+    "Grab the medium-size cylindrical sauce can and set it beside the medium kitchenpot",
+    "Grab the medium sauce can with white label and place it beside the compact kitchenpot with lid-like surface",
+    "Grab the medium sauce can with white label and place it near the medium kitchenpot",
+    "Use the left arm to grab the medium sauce can with white label and place it by the kitchenpot for cooking food",
+    "Pick up the sauce can and set it beside the kitchenpot for cooking food",
+    "Pick up the medium-size cylindrical sauce can and move it near the medium kitchenpot",
+    "Lift the sauce can and set it beside the medium kitchenpot",
+    "Use the left arm to pick up the medium sauce can with white label and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the medium sauce can with white label and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the compact kitchenpot with lid-like surface",
+    "Grab the medium sauce can with white label and set it beside the kitchenpot for cooking food",
+    "Grab the sauce can and place it beside the kitchenpot for cooking food",
+    "Grab the medium-size cylindrical sauce can and place it near the medium kitchenpot",
+    "Use the left arm to grab the medium sauce can with white label and place it by the kitchenpot for cooking food",
+    "Pick up the medium-size cylindrical sauce can and set it beside the kitchenpot for cooking food",
+    "Pick up the medium sauce can with white label and move it near the kitchenpot for cooking food",
+    "Lift the medium sauce can with white label and set it beside the medium kitchenpot",
+    "Use the left arm to pick up the sauce can and move it beside the kitchenpot for cooking food",
+    "Grab the medium sauce can with white label and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the kitchenpot for cooking food",
+    "Grab the sauce can and set it beside the kitchenpot for cooking food",
+    "Grab the sauce can and place it beside the kitchenpot for cooking food",
+    "Grab the medium-size cylindrical sauce can and place it near the kitchenpot for cooking food",
+    "Use the left arm to grab the sauce can and place it by the compact kitchenpot with lid-like surface",
+    "Pick up the medium-size cylindrical sauce can and set it beside the medium kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and move it near the kitchenpot for cooking food",
+    "Lift the medium sauce can with white label and set it beside the medium kitchenpot",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the medium-size cylindrical sauce can and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the sauce can, move it near the compact kitchenpot with lid-like surface",
+    "Grab the medium-size cylindrical sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the sauce can and place it beside the kitchenpot for cooking food",
+    "Grab the sauce can and place it near the kitchenpot for cooking food",
+    "Use the left arm to grab the medium-size cylindrical sauce can and place it by the compact kitchenpot with lid-like surface",
+    "Pick up the medium-size cylindrical sauce can and set it beside the kitchenpot for cooking food",
+    "Pick up the medium sauce can with white label and move it near the kitchenpot for cooking food",
+    "Lift the medium-size cylindrical sauce can and set it beside the kitchenpot for cooking food",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the compact kitchenpot with lid-like surface"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001090.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the smooth sauce can, move it, and place by the grey kitchenpot with dark circle inside",
+    "Set the metal body sauce can near the cylindrical kitchenpot with flat edges after picking it up",
+    "Lift the smooth sauce can, then place it next to the smooth kitchenpot with black button",
+    "Grab the small cylindrical sauce can, move it to the cylindrical kitchenpot with flat edges's side",
+    "Lift the sauce can with rounded top cap and move it near the light grey kitchenpot with dark top",
+    "Pick the smooth sauce can up and move it next to the smooth kitchenpot with black button",
+    "Use the right arm to grab the sauce can with printed design and move it next to the cylindrical kitchenpot with flat edges",
+    "Use the right arm to take the sauce can with printed design to the kitchenpot with red indicator light",
+    "Lift the small metal sauce container using the right arm and position it by the kitchenpot with black base",
+    "Lift the sauce can with printed design and set it next to the kitchenpot with two side handles",
+    "Take the small cylindrical sauce can to the matte-finished kitchenpot using the right arm",
+    "Move the metal body sauce can beside the kitchenpot with red indicator light after lifting it",
+    "Grab the compact sauce can with plastic lid, shift it, and place it close to the smooth kitchenpot with black button",
+    "Grab the sauce can with rounded top cap with the right arm and move it close to the cylindrical kitchenpot with flat edges",
+    "Grab the smooth sauce can with the right arm and set it near the kitchenpot with black rectangular panel",
+    "Pick up the metal body sauce can and put it beside the cylindrical kitchenpot with flat edges",
+    "Bring the cylindrical sauce can over and set it near the grey kitchenpot",
+    "Use the right arm to pick the red and orange sauce can up and set it beside the kitchenpot with sturdy plastic body",
+    "With the right arm, grab the red can with orange label and move to the kitchenpot with red indicator light",
+    "Lift the small metal sauce container, place it by the kitchenpot with two side handles",
+    "Move the red and orange sauce can to be next to the grey kitchenpot with dark circle inside",
+    "Use the right arm to grab the compact sauce can with plastic lid and move it beside the kitchenpot with black rectangular panel",
+    "Pick up the cylindrical sauce can using the right arm, transfer it beside the grey kitchenpot with dark circle inside",
+    "Use the right arm to move the sauce can with printed design beside the cylindrical kitchenpot with flat edges",
+    "Take the compact sauce can with plastic lid using the right arm, set it next to the grey kitchenpot with dark circle inside",
+    "Grab the compact sauce can with plastic lid with the right arm and position it beside the kitchenpot with black base",
+    "Use the right arm to lift the red and orange sauce can and place it next to the kitchenpot with two side handles",
+    "Using the right arm, lift the sauce can with printed design and place it by the smooth kitchenpot with black button",
+    "Use the right arm to lift the red and orange sauce can, then move it next to the kitchenpot with two side handles",
+    "Lift the red can with orange label and set it next to the cylindrical kitchenpot with flat edges",
+    "Lift the red and orange sauce can and set it beside the kitchenpot with sturdy plastic body",
+    "Pick the metal body sauce can with the right arm and relocate it near the kitchenpot with black rectangular panel",
+    "Lift the compact sauce can with plastic lid and place it next to the grey kitchenpot",
+    "Use the right arm to lift the metal body sauce can and place it near the light grey kitchenpot with dark top",
+    "Use the right arm to grab the red can with orange label, move it beside the cylindrical kitchenpot with flat edges",
+    "Place the smooth sauce can beside the grey kitchenpot with dark circle inside after picking it up",
+    "Pick the compact sauce can with plastic lid and position it next to the smooth kitchenpot with black button",
+    "Move the smooth sauce can to the kitchenpot with black base with the right arm",
+    "Set the metal body sauce can right next to the cylindrical kitchenpot with flat edges",
+    "Pick up the red and orange sauce can with the right arm and set by the kitchenpot with black rectangular panel",
+    "Take the smooth sauce can with the right arm, place it near the matte-finished kitchenpot",
+    "Take the small metal sauce container with the right arm, bring it, and set next to the light grey kitchenpot with dark top",
+    "Pick the cylindrical sauce can up with the right arm then place near the matte-finished kitchenpot",
+    "Pick the sauce can with rounded top cap up and carefully position it beside the grey kitchenpot with dark circle inside",
+    "Move the sauce can with rounded top cap from its spot to near the kitchenpot with sturdy plastic body",
+    "Use the right arm to grab the red can with orange label and transfer it near the round kitchenpot",
+    "Use the right arm to pick the sturdy sauce can with glossy finish, position it near the smooth kitchenpot with black button",
+    "Grab the sauce can with red lid and move it close to the matte-finished kitchenpot",
+    "Place the sturdy sauce can with glossy finish next to the kitchenpot with black rectangular panel",
+    "Lift the smooth sauce can using the right arm and drop it beside the kitchenpot with red indicator light",
+    "Grab the sauce can with red lid, move it, and place by the matte-finished kitchenpot",
+    "Set the red can with orange label near the kitchenpot with red indicator light after picking it up",
+    "Lift the sauce can with rounded top cap, then place it next to the cylindrical kitchenpot with flat edges",
+    "Grab the sauce can with red lid, move it to the grey kitchenpot's side",
+    "Lift the small metal sauce container and move it near the light grey kitchenpot with dark top",
+    "Pick the cylindrical sauce can up and move it next to the cylindrical kitchenpot with flat edges",
+    "Use the right arm to grab the small metal sauce container and move it next to the kitchenpot with black rectangular panel",
+    "Use the right arm to take the sauce can with red lid to the smooth kitchenpot with black button",
+    "Lift the small cylindrical sauce can using the right arm and position it by the grey kitchenpot",
+    "Lift the small cylindrical sauce can and set it next to the kitchenpot with black base",
+    "Take the sturdy sauce can with glossy finish to the kitchenpot with black base using the right arm",
+    "Move the compact sauce can with plastic lid beside the round kitchenpot after lifting it",
+    "Grab the sauce can with rounded top cap, shift it, and place it close to the round kitchenpot",
+    "Grab the smooth sauce can with the right arm and move it close to the smooth kitchenpot with black button",
+    "Grab the sauce can with rounded top cap with the right arm and set it near the cylindrical kitchenpot with flat edges",
+    "Pick up the cylindrical sauce can and put it beside the kitchenpot with black rectangular panel",
+    "Bring the sauce can with rounded top cap over and set it near the kitchenpot with black base",
+    "Use the right arm to pick the metal body sauce can up and set it beside the kitchenpot with black rectangular panel",
+    "With the right arm, grab the small metal sauce container and move to the cylindrical kitchenpot with flat edges",
+    "Lift the red and orange sauce can, place it by the kitchenpot with black rectangular panel",
+    "Move the small metal sauce container to be next to the kitchenpot with black rectangular panel",
+    "Use the right arm to grab the cylindrical sauce can and move it beside the kitchenpot with red indicator light",
+    "Pick up the sauce can with red lid using the right arm, transfer it beside the light grey kitchenpot with dark top",
+    "Use the right arm to move the cylindrical sauce can beside the light grey kitchenpot with dark top",
+    "Take the red and orange sauce can using the right arm, set it next to the matte-finished kitchenpot",
+    "Grab the smooth sauce can with the right arm and position it beside the kitchenpot with black rectangular panel",
+    "Use the right arm to lift the sauce can with rounded top cap and place it next to the smooth kitchenpot with black button",
+    "Using the right arm, lift the smooth sauce can and place it by the grey kitchenpot",
+    "Use the right arm to lift the sturdy sauce can with glossy finish, then move it next to the kitchenpot with red indicator light",
+    "Lift the red can with orange label and set it next to the grey kitchenpot with dark circle inside",
+    "Lift the sauce can with red lid and set it beside the kitchenpot with sturdy plastic body",
+    "Pick the sauce can with red lid with the right arm and relocate it near the kitchenpot with black rectangular panel",
+    "Lift the red can with orange label and place it next to the kitchenpot with sturdy plastic body",
+    "Use the right arm to lift the sturdy sauce can with glossy finish and place it near the kitchenpot with black base",
+    "Use the right arm to grab the red can with orange label, move it beside the kitchenpot with two side handles",
+    "Place the sauce can with red lid beside the smooth kitchenpot with black button after picking it up",
+    "Pick the red can with orange label and position it next to the kitchenpot with black base",
+    "Move the small cylindrical sauce can to the kitchenpot with sturdy plastic body with the right arm",
+    "Set the sauce can with rounded top cap right next to the grey kitchenpot with dark circle inside",
+    "Pick up the sauce can with red lid with the right arm and set by the kitchenpot with sturdy plastic body",
+    "Take the red and orange sauce can with the right arm, place it near the matte-finished kitchenpot",
+    "Take the small cylindrical sauce can with the right arm, bring it, and set next to the grey kitchenpot with dark circle inside",
+    "Pick the red and orange sauce can up with the right arm then place near the cylindrical kitchenpot with flat edges",
+    "Pick the sauce can with printed design up and carefully position it beside the light grey kitchenpot with dark top",
+    "Move the smooth sauce can from its spot to near the kitchenpot with black base",
+    "Use the right arm to grab the smooth sauce can and transfer it near the round kitchenpot",
+    "Use the right arm to pick the sauce can with red lid, position it near the light grey kitchenpot with dark top",
+    "Grab the compact sauce can with plastic lid and move it close to the grey kitchenpot with dark circle inside",
+    "Place the cylindrical sauce can next to the matte-finished kitchenpot",
+    "Lift the small metal sauce container using the right arm and drop it beside the light grey kitchenpot with dark top"
+  ],
+  "unseen": [
+    "Grab the red sauce can and place it near the kitchenpot for cooking food",
+    "Pick up the red can with white text and move it near the kitchenpot for cooking food",
+    "Grab the sauce can with round ridged lid and set it beside the medium kitchenpot",
+    "Grab the red can with white text and place it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the red sauce can, move it near the kitchenpot for cooking food",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the kitchenpot for cooking food",
+    "Grab the red can with white text and move it near the compact kitchenpot with lid-like surface",
+    "Use the right arm to grab the red can with white text and place it by the compact kitchenpot with lid-like surface",
+    "Lift the red sauce can and set it beside the kitchenpot for cooking food",
+    "Pick up the red sauce can and set it beside the kitchenpot for cooking food",
+    "Grab the red sauce can and place it near the kitchenpot for cooking food",
+    "Pick up the red sauce can and move it near the kitchenpot for cooking food",
+    "Grab the sauce can with round ridged lid and set it beside the medium kitchenpot",
+    "Grab the red sauce can and place it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the kitchenpot for cooking food",
+    "Use the right arm to pick up the red can with white text and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with round ridged lid and move it near the medium kitchenpot",
+    "Use the right arm to grab the red can with white text and place it by the medium kitchenpot",
+    "Lift the red can with white text and set it beside the medium kitchenpot",
+    "Pick up the red can with white text and set it beside the kitchenpot for cooking food",
+    "Grab the red sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Pick up the sauce can with round ridged lid and move it near the kitchenpot for cooking food",
+    "Grab the red sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the red sauce can and place it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the medium kitchenpot",
+    "Use the right arm to pick up the red can with white text and move it beside the kitchenpot for cooking food",
+    "Grab the red can with white text and move it near the medium kitchenpot",
+    "Use the right arm to grab the sauce can with round ridged lid and place it by the medium kitchenpot",
+    "Lift the sauce can with round ridged lid and set it beside the medium kitchenpot",
+    "Pick up the red sauce can and set it beside the medium kitchenpot",
+    "Grab the red can with white text and place it near the medium kitchenpot",
+    "Pick up the red sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with round ridged lid and set it beside the medium kitchenpot",
+    "Grab the red can with white text and place it beside the medium kitchenpot",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the medium kitchenpot",
+    "Use the right arm to pick up the red can with white text and move it beside the kitchenpot for cooking food",
+    "Grab the sauce can with round ridged lid and move it near the compact kitchenpot with lid-like surface",
+    "Use the right arm to grab the red can with white text and place it by the kitchenpot for cooking food",
+    "Lift the red can with white text and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the red can with white text and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the red sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Pick up the red sauce can and move it near the compact kitchenpot with lid-like surface",
+    "Grab the red can with white text and set it beside the medium kitchenpot",
+    "Grab the red can with white text and place it beside the medium kitchenpot",
+    "Use the right arm to pick up the red can with white text, move it near the medium kitchenpot",
+    "Use the right arm to pick up the red can with white text and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the red can with white text and move it near the medium kitchenpot",
+    "Use the right arm to grab the sauce can with round ridged lid and place it by the medium kitchenpot",
+    "Lift the red sauce can and set it beside the kitchenpot for cooking food",
+    "Pick up the red can with white text and set it beside the medium kitchenpot",
+    "Grab the sauce can with round ridged lid and place it near the kitchenpot for cooking food",
+    "Pick up the sauce can with round ridged lid and move it near the medium kitchenpot",
+    "Grab the red sauce can and set it beside the kitchenpot for cooking food",
+    "Grab the sauce can with round ridged lid and place it beside the medium kitchenpot",
+    "Use the right arm to pick up the red sauce can, move it near the medium kitchenpot",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the medium kitchenpot",
+    "Grab the red can with white text and move it near the medium kitchenpot",
+    "Use the right arm to grab the red sauce can and place it by the kitchenpot for cooking food",
+    "Lift the sauce can with round ridged lid and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the red sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the red sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Pick up the red can with white text and move it near the kitchenpot for cooking food",
+    "Grab the red sauce can and set it beside the medium kitchenpot",
+    "Grab the sauce can with round ridged lid and place it beside the kitchenpot for cooking food",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the kitchenpot for cooking food",
+    "Use the right arm to pick up the red sauce can and move it beside the kitchenpot for cooking food",
+    "Grab the red can with white text and move it near the medium kitchenpot",
+    "Use the right arm to grab the red sauce can and place it by the medium kitchenpot",
+    "Lift the red sauce can and set it beside the kitchenpot for cooking food",
+    "Pick up the sauce can with round ridged lid and set it beside the medium kitchenpot",
+    "Grab the red sauce can and place it near the medium kitchenpot",
+    "Pick up the sauce can with round ridged lid and move it near the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with round ridged lid and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the red can with white text and place it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the kitchenpot for cooking food",
+    "Grab the sauce can with round ridged lid and move it near the medium kitchenpot",
+    "Use the right arm to grab the red sauce can and place it by the compact kitchenpot with lid-like surface",
+    "Lift the sauce can with round ridged lid and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the red sauce can and set it beside the kitchenpot for cooking food",
+    "Grab the sauce can with round ridged lid and place it near the medium kitchenpot",
+    "Pick up the red sauce can and move it near the kitchenpot for cooking food",
+    "Grab the red sauce can and set it beside the medium kitchenpot",
+    "Grab the red can with white text and place it beside the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the red sauce can, move it near the medium kitchenpot",
+    "Use the right arm to pick up the red sauce can and move it beside the compact kitchenpot with lid-like surface",
+    "Grab the red sauce can and move it near the kitchenpot for cooking food",
+    "Use the right arm to grab the sauce can with round ridged lid and place it by the medium kitchenpot",
+    "Lift the red sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the red can with white text and set it beside the kitchenpot for cooking food",
+    "Grab the red sauce can and place it near the medium kitchenpot",
+    "Pick up the red can with white text and move it near the kitchenpot for cooking food",
+    "Grab the sauce can with round ridged lid and set it beside the kitchenpot for cooking food",
+    "Grab the red sauce can and place it beside the medium kitchenpot",
+    "Use the right arm to pick up the red can with white text, move it near the compact kitchenpot with lid-like surface",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the medium kitchenpot",
+    "Grab the red can with white text and move it near the compact kitchenpot with lid-like surface",
+    "Use the right arm to grab the red can with white text and place it by the compact kitchenpot with lid-like surface",
+    "Lift the red sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the red sauce can and set it beside the kitchenpot for cooking food"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001091.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the metal sauce can up and move it next to the cylindrical kitchenpot",
+    "Use the right arm to grab the brown sauce can and move it next to the kitchenpot for boiling and cooking",
+    "Use the right arm to pick the yellow and brown sauce can, position it near the gray cylindrical metal kitchenpot",
+    "Pick the printed label sauce can with the right arm and relocate it near the medium-sized kitchenpot",
+    "Use the right arm to lift the metal sauce can, then move it next to the round kitchenpot with handles",
+    "Pick the printed label sauce can up and carefully position it beside the kitchenpot with smooth exterior",
+    "Set the printed label sauce can right next to the kitchenpot for boiling and cooking",
+    "Place the medium sauce can next to the kitchenpot with smooth exterior",
+    "Place the yellow label sauce can beside the dark gray stove kitchenpot after picking it up",
+    "Take the printed label sauce can with the right arm, place it near the gray cylindrical metal kitchenpot",
+    "Grab the sauce can with brown lid, shift it, and place it close to the round kitchenpot with handles",
+    "Use the right arm to grab the brown top sauce can and transfer it near the round kitchenpot with handles",
+    "Grab the medium sauce can with the right arm and move it close to the gray cylindrical metal kitchenpot",
+    "Use the right arm to move the metal sauce can beside the kitchenpot for boiling and cooking",
+    "Move the yellow and brown sauce can from its spot to near the round kitchenpot with handles",
+    "Lift the smooth cylindrical sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Use the right arm to lift the sauce can for condiments and place it next to the kitchenpot for boiling and cooking",
+    "Lift the sauce can with brown lid and set it beside the kitchenpot for boiling and cooking",
+    "Move the cylindrical sauce can to be next to the dark gray stove kitchenpot",
+    "Use the right arm to grab the yellow and brown sauce can and move it beside the smooth gray kitchenpot",
+    "Use the right arm to pick the yellow label sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Grab the brown sauce can, move it, and place by the kitchenpot for boiling and cooking",
+    "With the right arm, grab the printed label sauce can and move to the medium-sized kitchenpot",
+    "Set the smooth cylindrical sauce can near the metal kitchenpot after picking it up",
+    "Pick up the yellow label sauce can and put it beside the smooth gray kitchenpot",
+    "Lift the brown sauce can using the right arm and drop it beside the metal kitchenpot",
+    "Use the right arm to take the yellow label sauce can to the cooking kitchenpot with side grips",
+    "Lift the printed label sauce can, place it by the dark gray stove kitchenpot",
+    "Lift the cylindrical sauce can and move it near the cooking kitchenpot with side grips",
+    "Lift the smooth cylindrical sauce can using the right arm and position it by the medium kitchenpot made of metal",
+    "Pick the sauce can with brown lid and position it next to the medium-sized kitchenpot",
+    "Lift the brown top sauce can, then place it next to the kitchenpot for boiling and cooking",
+    "Grab the smooth cylindrical sauce can and move it close to the round kitchenpot with handles",
+    "Pick up the printed label sauce can with the right arm and set by the cooking kitchenpot with side grips",
+    "Move the smooth cylindrical sauce can to the cylindrical kitchenpot with the right arm",
+    "Use the right arm to lift the brown top sauce can and place it near the medium-sized kitchenpot",
+    "Lift the smooth cylindrical sauce can and set it next to the smooth gray kitchenpot",
+    "Move the metal sauce can beside the medium kitchenpot made of metal after lifting it",
+    "Take the sauce can for condiments using the right arm, set it next to the kitchenpot with smooth exterior",
+    "Lift the brown sauce can and place it next to the smooth gray kitchenpot",
+    "Bring the metal sauce can over and set it near the medium kitchenpot made of metal",
+    "Take the cylindrical sauce can with the right arm, bring it, and set next to the gray cylindrical metal kitchenpot",
+    "Pick up the printed label sauce can using the right arm, transfer it beside the gray kitchenpot",
+    "Using the right arm, lift the yellow and brown sauce can and place it by the medium kitchenpot made of metal",
+    "Use the right arm to grab the brown top sauce can, move it beside the dark gray stove kitchenpot",
+    "Take the sauce can for condiments to the kitchenpot for boiling and cooking using the right arm",
+    "Grab the smooth cylindrical sauce can with the right arm and set it near the gray cylindrical metal kitchenpot",
+    "Pick the cylindrical sauce can up with the right arm then place near the kitchenpot for boiling and cooking",
+    "Grab the sauce can with brown lid with the right arm and position it beside the round kitchenpot with handles",
+    "Grab the yellow label sauce can, move it to the medium-sized kitchenpot's side",
+    "Pick the printed label sauce can up and move it next to the metal kitchenpot",
+    "Use the right arm to grab the cylindrical sauce can and move it next to the gray kitchenpot",
+    "Use the right arm to pick the medium sauce can, position it near the kitchenpot with smooth exterior",
+    "Pick the sauce can with ingredient information with the right arm and relocate it near the medium-sized kitchenpot",
+    "Use the right arm to lift the smooth cylindrical sauce can, then move it next to the kitchenpot for boiling and cooking",
+    "Pick the brown top sauce can up and carefully position it beside the medium-sized kitchenpot",
+    "Set the yellow label sauce can right next to the gray kitchenpot",
+    "Place the sauce can for condiments next to the round kitchenpot with handles",
+    "Place the cylindrical sauce can beside the round kitchenpot with handles after picking it up",
+    "Take the sauce can with brown lid with the right arm, place it near the medium kitchenpot made of metal",
+    "Grab the brown top sauce can, shift it, and place it close to the gray kitchenpot",
+    "Use the right arm to grab the smooth cylindrical sauce can and transfer it near the cooking kitchenpot with side grips",
+    "Grab the medium sauce can with the right arm and move it close to the round kitchenpot with handles",
+    "Use the right arm to move the yellow and brown sauce can beside the gray kitchenpot",
+    "Move the medium sauce can from its spot to near the cylindrical kitchenpot",
+    "Lift the sauce can with brown lid and set it next to the cooking kitchenpot with side grips",
+    "Use the right arm to lift the smooth cylindrical sauce can and place it next to the dark gray stove kitchenpot",
+    "Lift the yellow and brown sauce can and set it beside the cooking kitchenpot with side grips",
+    "Move the metal sauce can to be next to the medium-sized kitchenpot",
+    "Use the right arm to grab the yellow and brown sauce can and move it beside the medium kitchenpot made of metal",
+    "Use the right arm to pick the yellow and brown sauce can up and set it beside the smooth gray kitchenpot",
+    "Grab the printed label sauce can, move it, and place by the medium kitchenpot made of metal",
+    "With the right arm, grab the brown sauce can and move to the metal kitchenpot",
+    "Set the brown top sauce can near the medium-sized kitchenpot after picking it up",
+    "Pick up the cylindrical sauce can and put it beside the round kitchenpot with handles",
+    "Lift the brown sauce can using the right arm and drop it beside the kitchenpot for boiling and cooking",
+    "Use the right arm to take the printed label sauce can to the kitchenpot with smooth exterior",
+    "Lift the medium sauce can, place it by the cylindrical kitchenpot",
+    "Lift the medium sauce can and move it near the cylindrical kitchenpot",
+    "Lift the printed label sauce can using the right arm and position it by the medium-sized kitchenpot",
+    "Pick the sauce can with brown lid and position it next to the metal kitchenpot",
+    "Lift the brown top sauce can, then place it next to the medium-sized kitchenpot",
+    "Grab the medium sauce can and move it close to the kitchenpot with smooth exterior",
+    "Pick up the medium sauce can with the right arm and set by the cooking kitchenpot with side grips",
+    "Move the sauce can with ingredient information to the round kitchenpot with handles with the right arm",
+    "Use the right arm to lift the printed label sauce can and place it near the medium kitchenpot made of metal",
+    "Lift the smooth cylindrical sauce can and set it next to the gray cylindrical metal kitchenpot",
+    "Move the smooth cylindrical sauce can beside the metal kitchenpot after lifting it",
+    "Take the sauce can with ingredient information using the right arm, set it next to the medium-sized kitchenpot",
+    "Lift the metal sauce can and place it next to the dark gray stove kitchenpot",
+    "Bring the brown sauce can over and set it near the round kitchenpot with handles",
+    "Take the brown top sauce can with the right arm, bring it, and set next to the metal kitchenpot",
+    "Pick up the cylindrical sauce can using the right arm, transfer it beside the smooth gray kitchenpot",
+    "Using the right arm, lift the brown top sauce can and place it by the cooking kitchenpot with side grips",
+    "Use the right arm to grab the smooth cylindrical sauce can, move it beside the gray cylindrical metal kitchenpot",
+    "Take the yellow and brown sauce can to the cooking kitchenpot with side grips using the right arm",
+    "Grab the medium sauce can with the right arm and set it near the kitchenpot with smooth exterior",
+    "Pick the cylindrical sauce can up with the right arm then place near the round kitchenpot with handles",
+    "Grab the metal sauce can with the right arm and position it beside the medium kitchenpot made of metal",
+    "Grab the cylindrical sauce can, move it to the medium kitchenpot made of metal's side"
+  ],
+  "unseen": [
+    "Grab the hand-sized sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the kitchenpot with two side handles",
+    "Use the right arm to grab the metal body sauce can and place it by the kitchenpot with two side handles",
+    "Grab the metal body sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the sauce can with smooth surface and move it near the dark gray cooking kitchenpot",
+    "Lift the sauce can with smooth surface and set it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and place it near the gray kitchenpot with rounded edges",
+    "Pick up the hand-sized sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the metal body sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the hand-sized sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the kitchenpot with two side handles",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the sauce can with smooth surface and move it near the dark gray cooking kitchenpot",
+    "Lift the sauce can with smooth surface and set it beside the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and place it near the kitchenpot with two side handles",
+    "Pick up the metal body sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and move it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the metal body sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the gray kitchenpot with rounded edges",
+    "Grab the metal body sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the hand-sized sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the sauce can with smooth surface and set it beside the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the metal body sauce can and move it beside the kitchenpot with two side handles",
+    "Use the right arm to grab the metal body sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the metal body sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the hand-sized sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the sauce can with smooth surface and set it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and place it near the dark gray cooking kitchenpot",
+    "Pick up the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and set it beside the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and move it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the metal body sauce can, move it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the metal body sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the right arm to grab the hand-sized sauce can and place it by the kitchenpot with two side handles",
+    "Grab the hand-sized sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the hand-sized sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the metal body sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the hand-sized sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the metal body sauce can and move it beside the dark gray cooking kitchenpot",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the dark gray cooking kitchenpot",
+    "Grab the metal body sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the metal body sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the metal body sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the sauce can with smooth surface and place it near the kitchenpot with two side handles",
+    "Pick up the sauce can with smooth surface and set it beside the dark gray cooking kitchenpot",
+    "Grab the hand-sized sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and move it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the dark gray cooking kitchenpot",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and place it beside the gray kitchenpot with rounded edges",
+    "Pick up the sauce can with smooth surface and move it near the gray kitchenpot with rounded edges",
+    "Lift the sauce can with smooth surface and set it beside the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the metal body sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the hand-sized sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the gray kitchenpot with rounded edges",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the dark gray cooking kitchenpot",
+    "Grab the metal body sauce can and place it beside the dark gray cooking kitchenpot",
+    "Pick up the metal body sauce can and move it near the dark gray cooking kitchenpot",
+    "Lift the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the metal body sauce can and place it near the dark gray cooking kitchenpot",
+    "Pick up the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and move it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the metal body sauce can and move it beside the gray kitchenpot with rounded edges",
+    "Use the right arm to grab the hand-sized sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the metal body sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the metal body sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the metal body sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the metal body sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the hand-sized sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the sauce can with smooth surface and set it beside the gray kitchenpot with rounded edges",
+    "Grab the hand-sized sauce can and move it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the metal body sauce can and move it beside the kitchenpot with two side handles",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the kitchenpot with two side handles",
+    "Grab the metal body sauce can and place it beside the kitchenpot with two side handles",
+    "Pick up the hand-sized sauce can and move it near the gray kitchenpot with rounded edges",
+    "Lift the hand-sized sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the metal body sauce can and place it near the gray kitchenpot with rounded edges",
+    "Pick up the sauce can with smooth surface and set it beside the gray kitchenpot with rounded edges",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot with two side handles"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001093.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the brown cap sauce storage can and position it next to the round kitchenpot with two side grips",
+    "Pick the brown-lid sauce can up and move it next to the teal pot for boiling and cooking",
+    "Move the cylindrical can brown round top from its spot to near the kitchenpot with flat lid and knob",
+    "Lift the cylindrical container for sauce using the left arm and drop it beside the round teal cooking pot with matte texture",
+    "Take the white label brown lidded can with the left arm, bring it, and set next to the blue cylinder pot with smooth lid",
+    "Grab the white sauce can brown top, shift it, and place it close to the cooking pot with two blue handles",
+    "Lift the brown top white sauce can and place it next to the kitchenpot with two sturdy blue handles",
+    "Pick the white sauce can with label with the left arm and relocate it near the round kitchenpot with two side grips",
+    "Lift the hand-held sauce container using the left arm and position it by the blue cylinder pot with smooth lid",
+    "Take the white sauce can with label with the left arm, place it near the round kitchenpot with two side grips",
+    "Set the white label brown lidded can near the round teal cooking pot with matte texture after picking it up",
+    "Lift the metal can with plastic lid and move it near the cooking pot with two blue handles",
+    "Move the white sauce can with label to the smooth teal kitchenpot for stovetop use with the left arm",
+    "Lift the brown-lid sauce can and set it next to the cooking pot with two blue handles",
+    "Use the left arm to pick the brown-lid sauce can up and set it beside the kitchenpot with flat lid and knob",
+    "Take the cylindrical can brown round top using the left arm, set it next to the kitchenpot with two sturdy blue handles",
+    "Set the hand-held sauce container right next to the blue kitchenpot with smooth matte sides",
+    "Place the brown top white sauce can beside the kitchenpot with flat lid and knob after picking it up",
+    "Pick the brown top white sauce can up and carefully position it beside the round teal cooking pot with matte texture",
+    "Pick the white sauce can brown top up with the left arm then place near the kitchenpot with two sturdy blue handles",
+    "Move the brown cap sauce storage can to be next to the kitchenpot with two sturdy blue handles",
+    "Use the left arm to take the white sauce can brown top to the blue kitchenpot with smooth matte sides",
+    "Lift the white label brown lidded can, then place it next to the blue cylinder pot with smooth lid",
+    "Use the left arm to lift the brown cap sauce storage can and place it near the medium-sized teal blue cooking pot",
+    "Use the left arm to grab the smooth metal sauce can white and move it next to the blue kitchenpot with smooth matte sides",
+    "Use the left arm to grab the cylindrical container for sauce and transfer it near the medium teal blue kitchenpot with handles",
+    "With the left arm, grab the cylindrical can brown round top and move to the teal pot for boiling and cooking",
+    "Lift the smooth metal sauce can white and set it beside the medium teal-colored pot with flat lid",
+    "Grab the cylindrical container for sauce with the left arm and position it beside the blue cylinder pot with smooth lid",
+    "Bring the brown-lid sauce can over and set it near the medium teal-colored pot with flat lid",
+    "Place the metal can with plastic lid next to the round kitchenpot with two side grips",
+    "Use the left arm to lift the cylindrical can brown round top and place it next to the medium teal blue kitchenpot with handles",
+    "Pick up the cylindrical container for sauce with the left arm and set by the round teal cooking pot with matte texture",
+    "Use the left arm to move the hand-held sauce container beside the kitchenpot with two sturdy blue handles",
+    "Pick up the brown-lid sauce can using the left arm, transfer it beside the smooth teal kitchenpot for stovetop use",
+    "Grab the white label brown lidded can with the left arm and move it close to the round teal cooking pot with matte texture",
+    "Using the left arm, lift the white label brown lidded can and place it by the round kitchenpot with two side grips",
+    "Use the left arm to grab the cylindrical container for sauce, move it beside the smooth teal kitchenpot for stovetop use",
+    "Pick up the cylindrical container for sauce and put it beside the round kitchenpot with two side grips",
+    "Grab the cylindrical container for sauce and move it close to the kitchenpot with flat lid and knob",
+    "Use the left arm to pick the cylindrical can brown round top, position it near the smooth teal kitchenpot for stovetop use",
+    "Grab the brown-lid sauce can, move it to the medium teal blue kitchenpot with handles's side",
+    "Move the metal can with plastic lid beside the round kitchenpot with two side grips after lifting it",
+    "Lift the cylindrical container for sauce, place it by the kitchenpot with flat lid and knob",
+    "Grab the brown-lid sauce can with the left arm and set it near the blue kitchenpot with smooth matte sides",
+    "Grab the brown-lid sauce can, move it, and place by the medium teal-colored pot with flat lid",
+    "Lift the smooth metal sauce can white and set it next to the smooth teal kitchenpot for stovetop use",
+    "Use the left arm to grab the brown cap sauce storage can and move it beside the blue cylinder pot with smooth lid",
+    "Use the left arm to lift the white sauce can with label, then move it next to the kitchenpot with flat lid and knob",
+    "Take the metal can with plastic lid to the teal pot for boiling and cooking using the left arm",
+    "Pick the metal can with plastic lid and position it next to the medium-sized teal blue cooking pot",
+    "Pick the white sauce can brown top up and move it next to the medium teal-colored pot with flat lid",
+    "Move the hand-held sauce container from its spot to near the medium teal-colored pot with flat lid",
+    "Lift the cylindrical container for sauce using the left arm and drop it beside the kitchenpot with two sturdy blue handles",
+    "Take the hand-held sauce container with the left arm, bring it, and set next to the medium teal-colored pot with flat lid",
+    "Grab the cylindrical container for sauce, shift it, and place it close to the blue cylinder pot with smooth lid",
+    "Lift the brown-lid sauce can and place it next to the medium teal blue kitchenpot with handles",
+    "Pick the brown cap sauce storage can with the left arm and relocate it near the medium-sized teal blue cooking pot",
+    "Lift the smooth metal sauce can white using the left arm and position it by the smooth teal kitchenpot for stovetop use",
+    "Take the brown-lid sauce can with the left arm, place it near the smooth teal kitchenpot for stovetop use",
+    "Set the metal can with plastic lid near the round kitchenpot with two side grips after picking it up",
+    "Lift the white cylindrical sauce holder and move it near the teal pot for boiling and cooking",
+    "Move the brown-lid sauce can to the round kitchenpot with two side grips with the left arm",
+    "Lift the hand-held sauce container and set it next to the round teal cooking pot with matte texture",
+    "Use the left arm to pick the smooth metal sauce can white up and set it beside the blue kitchenpot with smooth matte sides",
+    "Take the brown top white sauce can using the left arm, set it next to the blue cylinder pot with smooth lid",
+    "Set the hand-held sauce container right next to the round teal cooking pot with matte texture",
+    "Place the white sauce can with label beside the teal pot for boiling and cooking after picking it up",
+    "Pick the brown cap sauce storage can up and carefully position it beside the teal pot for boiling and cooking",
+    "Pick the white label brown lidded can up with the left arm then place near the kitchenpot with flat lid and knob",
+    "Move the brown top white sauce can to be next to the round kitchenpot with two side grips",
+    "Use the left arm to take the brown top white sauce can to the cooking pot with two blue handles",
+    "Lift the metal can with plastic lid, then place it next to the blue cylinder pot with smooth lid",
+    "Use the left arm to lift the smooth metal sauce can white and place it near the kitchenpot with two sturdy blue handles",
+    "Use the left arm to grab the white label brown lidded can and move it next to the round teal cooking pot with matte texture",
+    "Use the left arm to grab the white sauce can brown top and transfer it near the kitchenpot with two sturdy blue handles",
+    "With the left arm, grab the brown-lid sauce can and move to the kitchenpot with two sturdy blue handles",
+    "Lift the metal can with plastic lid and set it beside the cooking pot with two blue handles",
+    "Grab the white sauce can with label with the left arm and position it beside the blue kitchenpot with smooth matte sides",
+    "Bring the white sauce can with label over and set it near the round kitchenpot with two side grips",
+    "Place the brown cap sauce storage can next to the round teal cooking pot with matte texture",
+    "Use the left arm to lift the cylindrical container for sauce and place it next to the round teal cooking pot with matte texture",
+    "Pick up the cylindrical can brown round top with the left arm and set by the blue kitchenpot with smooth matte sides",
+    "Use the left arm to move the white cylindrical sauce holder beside the kitchenpot with two sturdy blue handles",
+    "Pick up the brown-lid sauce can using the left arm, transfer it beside the medium teal-colored pot with flat lid",
+    "Grab the cylindrical can brown round top with the left arm and move it close to the round teal cooking pot with matte texture",
+    "Using the left arm, lift the white sauce can brown top and place it by the medium-sized teal blue cooking pot",
+    "Use the left arm to grab the white label brown lidded can, move it beside the round kitchenpot with two side grips",
+    "Pick up the cylindrical can brown round top and put it beside the kitchenpot with two sturdy blue handles",
+    "Grab the white label brown lidded can and move it close to the medium teal-colored pot with flat lid",
+    "Use the left arm to pick the cylindrical container for sauce, position it near the teal pot for boiling and cooking",
+    "Grab the hand-held sauce container, move it to the round kitchenpot with two side grips's side",
+    "Move the white label brown lidded can beside the round teal cooking pot with matte texture after lifting it",
+    "Lift the white sauce can brown top, place it by the cooking pot with two blue handles",
+    "Grab the white sauce can brown top with the left arm and set it near the blue kitchenpot with smooth matte sides",
+    "Grab the smooth metal sauce can white, move it, and place by the kitchenpot with flat lid and knob",
+    "Lift the hand-held sauce container and set it next to the teal pot for boiling and cooking",
+    "Use the left arm to grab the white cylindrical sauce holder and move it beside the blue cylinder pot with smooth lid",
+    "Use the left arm to lift the white sauce can brown top, then move it next to the round teal cooking pot with matte texture",
+    "Take the brown-lid sauce can to the smooth teal kitchenpot for stovetop use using the left arm"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the medium sauce can with white label, move it near the blue pot with cylindrical body and lid",
+    "Pick up the medium-size cylindrical sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Lift the medium-size cylindrical sauce can and set it beside the blue kitchenpot",
+    "Use the left arm to grab the medium sauce can with white label and place it by the teal blue cooking pot",
+    "Pick up the sauce can and move it near the blue kitchenpot",
+    "Grab the medium-size cylindrical sauce can and place it beside the blue pot with cylindrical body and lid",
+    "Grab the medium sauce can with white label and set it beside the blue pot with cylindrical body and lid",
+    "Grab the medium-size cylindrical sauce can and place it near the blue kitchenpot",
+    "Use the left arm to pick up the sauce can and move it beside the teal blue cooking pot",
+    "Grab the sauce can and move it near the blue kitchenpot",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the blue kitchenpot",
+    "Pick up the sauce can and set it beside the blue kitchenpot",
+    "Lift the medium sauce can with white label and set it beside the blue pot with cylindrical body and lid",
+    "Use the left arm to grab the medium sauce can with white label and place it by the blue pot with cylindrical body and lid",
+    "Pick up the medium-size cylindrical sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the medium sauce can with white label and place it beside the teal blue cooking pot",
+    "Grab the medium-size cylindrical sauce can and set it beside the teal blue cooking pot",
+    "Grab the medium sauce can with white label and place it near the blue kitchenpot",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the blue kitchenpot",
+    "Grab the medium sauce can with white label and move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the teal blue cooking pot",
+    "Pick up the medium sauce can with white label and set it beside the teal blue cooking pot",
+    "Lift the medium-size cylindrical sauce can and set it beside the teal blue cooking pot",
+    "Use the left arm to grab the medium-size cylindrical sauce can and place it by the teal blue cooking pot",
+    "Pick up the medium sauce can with white label and move it near the blue kitchenpot",
+    "Grab the sauce can and place it beside the teal blue cooking pot",
+    "Grab the sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Grab the sauce can and place it near the teal blue cooking pot",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the blue kitchenpot",
+    "Grab the medium-size cylindrical sauce can and move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the blue kitchenpot",
+    "Pick up the sauce can and set it beside the teal blue cooking pot",
+    "Lift the medium sauce can with white label and set it beside the teal blue cooking pot",
+    "Use the left arm to grab the medium-size cylindrical sauce can and place it by the teal blue cooking pot",
+    "Pick up the medium-size cylindrical sauce can and move it near the teal blue cooking pot",
+    "Grab the medium sauce can with white label and place it beside the blue kitchenpot",
+    "Grab the medium-size cylindrical sauce can and set it beside the teal blue cooking pot",
+    "Grab the sauce can and place it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the blue kitchenpot",
+    "Grab the medium sauce can with white label and move it near the teal blue cooking pot",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the blue kitchenpot",
+    "Pick up the medium sauce can with white label and set it beside the teal blue cooking pot",
+    "Lift the sauce can and set it beside the teal blue cooking pot",
+    "Use the left arm to grab the sauce can and place it by the teal blue cooking pot",
+    "Pick up the medium-size cylindrical sauce can and move it near the blue kitchenpot",
+    "Grab the sauce can and place it beside the blue kitchenpot",
+    "Grab the medium sauce can with white label and set it beside the blue kitchenpot",
+    "Grab the medium sauce can with white label and place it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the sauce can and move it beside the blue kitchenpot",
+    "Grab the medium sauce can with white label and move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the blue kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and set it beside the blue kitchenpot",
+    "Lift the sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Use the left arm to grab the medium-size cylindrical sauce can and place it by the teal blue cooking pot",
+    "Pick up the medium-size cylindrical sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the medium-size cylindrical sauce can and place it beside the blue pot with cylindrical body and lid",
+    "Grab the medium sauce can with white label and set it beside the blue pot with cylindrical body and lid",
+    "Grab the sauce can and place it near the teal blue cooking pot",
+    "Use the left arm to pick up the sauce can and move it beside the blue kitchenpot",
+    "Grab the medium sauce can with white label and move it near the teal blue cooking pot",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the blue pot with cylindrical body and lid",
+    "Pick up the medium-size cylindrical sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Lift the medium sauce can with white label and set it beside the blue kitchenpot",
+    "Use the left arm to grab the medium sauce can with white label and place it by the blue pot with cylindrical body and lid",
+    "Pick up the medium-size cylindrical sauce can and move it near the teal blue cooking pot",
+    "Grab the sauce can and place it beside the blue kitchenpot",
+    "Grab the medium-size cylindrical sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Grab the medium-size cylindrical sauce can and place it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the medium sauce can with white label and move it beside the blue pot with cylindrical body and lid",
+    "Grab the sauce can and move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the blue kitchenpot",
+    "Pick up the medium sauce can with white label and set it beside the teal blue cooking pot",
+    "Lift the medium sauce can with white label and set it beside the teal blue cooking pot",
+    "Use the left arm to grab the medium-size cylindrical sauce can and place it by the teal blue cooking pot",
+    "Pick up the sauce can and move it near the teal blue cooking pot",
+    "Grab the sauce can and place it beside the blue pot with cylindrical body and lid",
+    "Grab the sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Grab the medium-size cylindrical sauce can and place it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the teal blue cooking pot",
+    "Grab the medium-size cylindrical sauce can and move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the teal blue cooking pot",
+    "Pick up the sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Lift the sauce can and set it beside the teal blue cooking pot",
+    "Use the left arm to grab the medium-size cylindrical sauce can and place it by the teal blue cooking pot",
+    "Pick up the medium-size cylindrical sauce can and move it near the blue kitchenpot",
+    "Grab the medium sauce can with white label and place it beside the teal blue cooking pot",
+    "Grab the medium-size cylindrical sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Grab the medium sauce can with white label and place it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the sauce can and move it beside the blue kitchenpot",
+    "Grab the sauce can and move it near the teal blue cooking pot",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the blue kitchenpot",
+    "Pick up the medium sauce can with white label and set it beside the blue pot with cylindrical body and lid",
+    "Lift the medium-size cylindrical sauce can and set it beside the teal blue cooking pot",
+    "Use the left arm to grab the sauce can and place it by the teal blue cooking pot",
+    "Pick up the medium sauce can with white label and move it near the teal blue cooking pot",
+    "Grab the medium sauce can with white label and place it beside the teal blue cooking pot",
+    "Grab the sauce can and set it beside the blue kitchenpot",
+    "Grab the medium-size cylindrical sauce can and place it near the teal blue cooking pot",
+    "Use the left arm to pick up the medium sauce can with white label and move it beside the teal blue cooking pot",
+    "Grab the medium sauce can with white label and move it near the blue pot with cylindrical body and lid"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001094.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth sauce can using the left arm and position it by the metal cooking pot",
+    "Move the compact sauce can with plastic lid to be next to the medium gray pot with handles",
+    "Grab the sauce can with printed design, move it to the medium-sized smooth gray cooking pot's side",
+    "Use the left arm to take the metal body sauce can to the pot with round lid",
+    "Pick up the cylindrical sauce can with the left arm and set by the medium gray pot with handles",
+    "Use the left arm to grab the red and orange sauce can and transfer it near the gray kitchenpot",
+    "Lift the smooth sauce can, then place it next to the gray kitchenpot",
+    "Grab the red can with orange label with the left arm and set it near the round pot with dark gray knob",
+    "Lift the red and orange sauce can, place it by the pot with round lid",
+    "Use the left arm to pick the smooth sauce can up and set it beside the gray kitchenpot",
+    "Place the small metal sauce container beside the medium-sized smooth gray cooking pot after picking it up",
+    "Use the left arm to move the red can with orange label beside the pot with lid and sturdy handles",
+    "With the left arm, grab the red can with orange label and move to the metal cooking pot",
+    "Move the compact sauce can with plastic lid from its spot to near the pot with round lid",
+    "Set the cylindrical sauce can near the kitchenpot used for cooking meals after picking it up",
+    "Pick up the cylindrical sauce can and put it beside the metal cooking pot",
+    "Pick the smooth sauce can up and carefully position it beside the pot with round lid",
+    "Grab the smooth sauce can with the left arm and position it beside the round pot with dark gray knob",
+    "Lift the small metal sauce container and place it next to the kitchenpot used for cooking meals",
+    "Move the small metal sauce container to the rounded pot with metal lid with the left arm",
+    "Grab the sauce can with red lid, shift it, and place it close to the pot with lid and sturdy handles",
+    "Set the cylindrical sauce can right next to the dark gray pot with side handles",
+    "Take the small cylindrical sauce can with the left arm, place it near the kitchenpot with smooth texture",
+    "Use the left arm to pick the compact sauce can with plastic lid, position it near the kitchenpot with smooth texture",
+    "Bring the sauce can with rounded top cap over and set it near the pot with round lid",
+    "Lift the sauce can with rounded top cap and move it near the kitchenpot used for cooking meals",
+    "Use the left arm to lift the small cylindrical sauce can and place it near the pot with round lid",
+    "Use the left arm to grab the compact sauce can with plastic lid, move it beside the metal cooking pot",
+    "Use the left arm to grab the small metal sauce container and move it beside the metal cooking pot",
+    "Pick the sturdy sauce can with glossy finish and position it next to the gray pot for boiling food",
+    "Pick the red can with orange label up with the left arm then place near the dark gray pot with side handles",
+    "Grab the small cylindrical sauce can, move it, and place by the rounded pot with metal lid",
+    "Lift the sauce can with red lid and set it beside the rounded pot with metal lid",
+    "Pick the sturdy sauce can with glossy finish with the left arm and relocate it near the gray pot for boiling food",
+    "Move the smooth sauce can beside the kitchenpot with smooth texture after lifting it",
+    "Lift the small cylindrical sauce can using the left arm and drop it beside the rounded pot with metal lid",
+    "Lift the small cylindrical sauce can and set it next to the medium-sized smooth gray cooking pot",
+    "Use the left arm to lift the smooth sauce can and place it next to the round pot with dark gray knob",
+    "Use the left arm to lift the small cylindrical sauce can, then move it next to the dark gray pot with side handles",
+    "Pick the small cylindrical sauce can up and move it next to the medium-sized smooth gray cooking pot",
+    "Pick up the smooth sauce can using the left arm, transfer it beside the medium gray pot with handles",
+    "Grab the sauce can with rounded top cap with the left arm and move it close to the gray pot for boiling food",
+    "Lift the small cylindrical sauce can and set it next to the kitchenpot used for cooking meals",
+    "Use the left arm to grab the small metal sauce container and move it next to the gray pot for boiling food",
+    "Take the sauce can with rounded top cap to the pot with round lid using the left arm",
+    "Take the sauce can with rounded top cap using the left arm, set it next to the gray pot for boiling food",
+    "Grab the cylindrical sauce can and move it close to the metal cooking pot",
+    "Using the left arm, lift the compact sauce can with plastic lid and place it by the medium gray pot with handles",
+    "Take the small cylindrical sauce can with the left arm, bring it, and set next to the metal cooking pot",
+    "Place the cylindrical sauce can next to the kitchenpot with smooth texture",
+    "Lift the sauce can with rounded top cap using the left arm and position it by the metal cooking pot",
+    "Move the sturdy sauce can with glossy finish to be next to the pot with round lid",
+    "Grab the compact sauce can with plastic lid, move it to the medium-sized smooth gray cooking pot's side",
+    "Use the left arm to take the sauce can with rounded top cap to the round pot with dark gray knob",
+    "Pick up the small metal sauce container with the left arm and set by the metal cooking pot",
+    "Use the left arm to grab the sturdy sauce can with glossy finish and transfer it near the gray pot for boiling food",
+    "Lift the compact sauce can with plastic lid, then place it next to the kitchenpot with smooth texture",
+    "Grab the red can with orange label with the left arm and set it near the metal cooking pot",
+    "Lift the compact sauce can with plastic lid, place it by the rounded pot with metal lid",
+    "Use the left arm to pick the sauce can with red lid up and set it beside the gray kitchenpot",
+    "Place the small metal sauce container beside the metal cooking pot after picking it up",
+    "Use the left arm to move the sauce can with rounded top cap beside the medium-sized smooth gray cooking pot",
+    "With the left arm, grab the sauce can with red lid and move to the metal cooking pot",
+    "Move the cylindrical sauce can from its spot to near the pot with lid and sturdy handles",
+    "Set the sauce can with printed design near the gray pot for boiling food after picking it up",
+    "Pick up the smooth sauce can and put it beside the kitchenpot used for cooking meals",
+    "Pick the sauce can with rounded top cap up and carefully position it beside the rounded pot with metal lid",
+    "Grab the red can with orange label with the left arm and position it beside the medium gray pot with handles",
+    "Lift the small cylindrical sauce can and place it next to the gray pot for boiling food",
+    "Move the metal body sauce can to the gray kitchenpot with the left arm",
+    "Grab the metal body sauce can, shift it, and place it close to the kitchenpot used for cooking meals",
+    "Set the compact sauce can with plastic lid right next to the gray pot for boiling food",
+    "Take the sauce can with red lid with the left arm, place it near the round pot with dark gray knob",
+    "Use the left arm to pick the sauce can with printed design, position it near the kitchenpot with smooth texture",
+    "Bring the cylindrical sauce can over and set it near the pot with lid and sturdy handles",
+    "Lift the sauce can with red lid and move it near the medium gray pot with handles",
+    "Use the left arm to lift the small metal sauce container and place it near the kitchenpot used for cooking meals",
+    "Use the left arm to grab the small metal sauce container, move it beside the metal cooking pot",
+    "Use the left arm to grab the metal body sauce can and move it beside the pot with round lid",
+    "Pick the sauce can with rounded top cap and position it next to the medium gray pot with handles",
+    "Pick the red and orange sauce can up with the left arm then place near the metal cooking pot",
+    "Grab the red and orange sauce can, move it, and place by the medium-sized smooth gray cooking pot",
+    "Lift the metal body sauce can and set it beside the rounded pot with metal lid",
+    "Pick the red and orange sauce can with the left arm and relocate it near the medium gray pot with handles",
+    "Move the sauce can with printed design beside the pot with lid and sturdy handles after lifting it",
+    "Lift the red and orange sauce can using the left arm and drop it beside the metal cooking pot",
+    "Lift the compact sauce can with plastic lid and set it next to the dark gray pot with side handles",
+    "Use the left arm to lift the red and orange sauce can and place it next to the pot with round lid",
+    "Use the left arm to lift the metal body sauce can, then move it next to the gray pot for boiling food",
+    "Pick the small metal sauce container up and move it next to the pot with round lid",
+    "Pick up the sturdy sauce can with glossy finish using the left arm, transfer it beside the round pot with dark gray knob",
+    "Grab the sturdy sauce can with glossy finish with the left arm and move it close to the kitchenpot with smooth texture",
+    "Lift the red can with orange label and set it next to the medium gray pot with handles",
+    "Use the left arm to grab the red and orange sauce can and move it next to the kitchenpot used for cooking meals",
+    "Take the metal body sauce can to the pot with round lid using the left arm",
+    "Take the small metal sauce container using the left arm, set it next to the gray kitchenpot",
+    "Grab the small cylindrical sauce can and move it close to the pot with round lid",
+    "Using the left arm, lift the red and orange sauce can and place it by the medium gray pot with handles",
+    "Take the sauce can with red lid with the left arm, bring it, and set next to the pot with lid and sturdy handles",
+    "Place the sauce can with printed design next to the round pot with dark gray knob"
+  ],
+  "unseen": [
+    "Use the left arm to grab the red can with white text and place it by the smooth gray pot with matte finish",
+    "Pick up the sauce can with round ridged lid and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the red can with white text and move it beside the metal pot with curved handles",
+    "Grab the red can with white text and place it beside the cylindrical kitchenpot for cooking",
+    "Grab the sauce can with round ridged lid and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to pick up the red sauce can, move it near the smooth gray pot with matte finish",
+    "Grab the sauce can with round ridged lid and move it near the metal pot with curved handles",
+    "Pick up the red sauce can and set it beside the smooth gray pot with matte finish",
+    "Grab the red can with white text and place it near the smooth gray pot with matte finish",
+    "Lift the red can with white text and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the smooth gray pot with matte finish",
+    "Pick up the red can with white text and move it near the smooth gray pot with matte finish",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the cylindrical kitchenpot for cooking",
+    "Grab the red can with white text and place it beside the metal pot with curved handles",
+    "Grab the red can with white text and set it beside the metal pot with curved handles",
+    "Use the left arm to pick up the red sauce can, move it near the cylindrical kitchenpot for cooking",
+    "Grab the sauce can with round ridged lid and move it near the smooth gray pot with matte finish",
+    "Pick up the red sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the sauce can with round ridged lid and place it near the metal pot with curved handles",
+    "Lift the red sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to grab the red can with white text and place it by the smooth gray pot with matte finish",
+    "Pick up the red sauce can and move it near the metal pot with curved handles",
+    "Use the left arm to pick up the red sauce can and move it beside the cylindrical kitchenpot for cooking",
+    "Grab the sauce can with round ridged lid and place it beside the smooth gray pot with matte finish",
+    "Grab the red can with white text and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to pick up the red can with white text, move it near the smooth gray pot with matte finish",
+    "Grab the red sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Pick up the sauce can with round ridged lid and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the sauce can with round ridged lid and place it near the cylindrical kitchenpot for cooking",
+    "Lift the red sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the cylindrical kitchenpot for cooking",
+    "Pick up the red sauce can and move it near the metal pot with curved handles",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the cylindrical kitchenpot for cooking",
+    "Grab the red can with white text and place it beside the cylindrical kitchenpot for cooking",
+    "Grab the red sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to pick up the red can with white text, move it near the metal pot with curved handles",
+    "Grab the red sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Pick up the sauce can with round ridged lid and set it beside the metal pot with curved handles",
+    "Grab the red sauce can and place it near the metal pot with curved handles",
+    "Lift the red sauce can and set it beside the metal pot with curved handles",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the metal pot with curved handles",
+    "Pick up the red sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the smooth gray pot with matte finish",
+    "Grab the sauce can with round ridged lid and place it beside the smooth gray pot with matte finish",
+    "Grab the sauce can with round ridged lid and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to pick up the red sauce can, move it near the metal pot with curved handles",
+    "Grab the red can with white text and move it near the metal pot with curved handles",
+    "Pick up the red sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the red can with white text and place it near the metal pot with curved handles",
+    "Lift the red can with white text and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the smooth gray pot with matte finish",
+    "Pick up the red can with white text and move it near the metal pot with curved handles",
+    "Use the left arm to pick up the red sauce can and move it beside the metal pot with curved handles",
+    "Grab the red can with white text and place it beside the cylindrical kitchenpot for cooking",
+    "Grab the sauce can with round ridged lid and set it beside the metal pot with curved handles",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the smooth gray pot with matte finish",
+    "Grab the red sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Pick up the red can with white text and set it beside the metal pot with curved handles",
+    "Grab the sauce can with round ridged lid and place it near the cylindrical kitchenpot for cooking",
+    "Lift the sauce can with round ridged lid and set it beside the metal pot with curved handles",
+    "Use the left arm to grab the red sauce can and place it by the cylindrical kitchenpot for cooking",
+    "Pick up the red can with white text and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the red sauce can and move it beside the smooth gray pot with matte finish",
+    "Grab the red sauce can and place it beside the metal pot with curved handles",
+    "Grab the sauce can with round ridged lid and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to pick up the red can with white text, move it near the metal pot with curved handles",
+    "Grab the sauce can with round ridged lid and move it near the smooth gray pot with matte finish",
+    "Pick up the sauce can with round ridged lid and set it beside the metal pot with curved handles",
+    "Grab the red can with white text and place it near the smooth gray pot with matte finish",
+    "Lift the red sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to grab the red sauce can and place it by the metal pot with curved handles",
+    "Pick up the red can with white text and move it near the metal pot with curved handles",
+    "Use the left arm to pick up the red sauce can and move it beside the smooth gray pot with matte finish",
+    "Grab the red sauce can and place it beside the metal pot with curved handles",
+    "Grab the red sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the red can with white text, move it near the cylindrical kitchenpot for cooking",
+    "Grab the red sauce can and move it near the smooth gray pot with matte finish",
+    "Pick up the red sauce can and set it beside the metal pot with curved handles",
+    "Grab the sauce can with round ridged lid and place it near the smooth gray pot with matte finish",
+    "Lift the red sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to grab the sauce can with round ridged lid and place it by the cylindrical kitchenpot for cooking",
+    "Pick up the red sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the sauce can with round ridged lid and move it beside the metal pot with curved handles",
+    "Grab the red can with white text and place it beside the cylindrical kitchenpot for cooking",
+    "Grab the sauce can with round ridged lid and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the sauce can with round ridged lid, move it near the metal pot with curved handles",
+    "Grab the sauce can with round ridged lid and move it near the cylindrical kitchenpot for cooking",
+    "Pick up the red sauce can and set it beside the smooth gray pot with matte finish",
+    "Grab the red can with white text and place it near the cylindrical kitchenpot for cooking",
+    "Lift the red sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to grab the red can with white text and place it by the cylindrical kitchenpot for cooking",
+    "Pick up the red can with white text and move it near the metal pot with curved handles",
+    "Use the left arm to pick up the red sauce can and move it beside the cylindrical kitchenpot for cooking",
+    "Grab the sauce can with round ridged lid and place it beside the cylindrical kitchenpot for cooking",
+    "Grab the sauce can with round ridged lid and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to pick up the red sauce can, move it near the cylindrical kitchenpot for cooking",
+    "Grab the red sauce can and move it near the metal pot with curved handles",
+    "Pick up the red can with white text and set it beside the metal pot with curved handles",
+    "Grab the red can with white text and place it near the smooth gray pot with matte finish",
+    "Lift the red can with white text and set it beside the cylindrical kitchenpot for cooking"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001095.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the white sauce can with label, move it, and place by the pot with lid and sturdy handles",
+    "Grab the brown top white sauce can and move it close to the rounded pot with metal lid",
+    "Use the left arm to grab the cylindrical can brown round top and move it next to the medium-sized smooth gray cooking pot",
+    "Lift the smooth metal sauce can white and place it next to the medium gray pot with handles",
+    "Use the left arm to grab the white sauce can brown top, move it beside the kitchenpot used for cooking meals",
+    "Place the hand-held sauce container next to the gray pot for boiling food",
+    "Pick up the hand-held sauce container and put it beside the kitchenpot used for cooking meals",
+    "Use the left arm to take the metal can with plastic lid to the pot with round lid",
+    "Use the left arm to pick the white sauce can with label up and set it beside the kitchenpot used for cooking meals",
+    "Take the metal can with plastic lid with the left arm, bring it, and set next to the kitchenpot with smooth texture",
+    "Use the left arm to grab the smooth metal sauce can white and transfer it near the dark gray pot with side handles",
+    "Lift the cylindrical can brown round top, place it by the pot with lid and sturdy handles",
+    "Move the white sauce can with label to the kitchenpot with smooth texture with the left arm",
+    "Lift the white cylindrical sauce holder and set it next to the rounded pot with metal lid",
+    "Take the white label brown lidded can with the left arm, place it near the medium gray pot with handles",
+    "Lift the brown-lid sauce can, then place it next to the rounded pot with metal lid",
+    "Use the left arm to lift the smooth metal sauce can white and place it near the gray pot for boiling food",
+    "Lift the hand-held sauce container using the left arm and position it by the medium-sized smooth gray cooking pot",
+    "Set the cylindrical can brown round top near the medium gray pot with handles after picking it up",
+    "Lift the hand-held sauce container and move it near the medium gray pot with handles",
+    "Take the white label brown lidded can to the kitchenpot used for cooking meals using the left arm",
+    "Use the left arm to lift the brown cap sauce storage can, then move it next to the pot with round lid",
+    "Set the white sauce can with label right next to the kitchenpot used for cooking meals",
+    "Use the left arm to pick the brown-lid sauce can, position it near the round pot with dark gray knob",
+    "Take the hand-held sauce container using the left arm, set it next to the gray kitchenpot",
+    "Grab the white sauce can brown top with the left arm and move it close to the metal cooking pot",
+    "Lift the white sauce can brown top and set it beside the rounded pot with metal lid",
+    "Grab the hand-held sauce container with the left arm and position it beside the round pot with dark gray knob",
+    "Pick up the metal can with plastic lid using the left arm, transfer it beside the gray pot for boiling food",
+    "With the left arm, grab the cylindrical can brown round top and move to the dark gray pot with side handles",
+    "Use the left arm to move the brown-lid sauce can beside the kitchenpot used for cooking meals",
+    "Move the cylindrical container for sauce to be next to the medium-sized smooth gray cooking pot",
+    "Pick the white label brown lidded can up with the left arm then place near the gray kitchenpot",
+    "Use the left arm to lift the cylindrical can brown round top and place it next to the dark gray pot with side handles",
+    "Pick the smooth metal sauce can white with the left arm and relocate it near the gray pot for boiling food",
+    "Bring the cylindrical can brown round top over and set it near the medium gray pot with handles",
+    "Using the left arm, lift the cylindrical container for sauce and place it by the gray kitchenpot",
+    "Pick the metal can with plastic lid up and move it next to the medium gray pot with handles",
+    "Pick up the cylindrical container for sauce with the left arm and set by the kitchenpot used for cooking meals",
+    "Grab the brown top white sauce can, shift it, and place it close to the pot with lid and sturdy handles",
+    "Grab the smooth metal sauce can white, move it to the gray pot for boiling food's side",
+    "Use the left arm to grab the brown-lid sauce can and move it beside the kitchenpot used for cooking meals",
+    "Move the hand-held sauce container from its spot to near the kitchenpot used for cooking meals",
+    "Place the brown top white sauce can beside the gray kitchenpot after picking it up",
+    "Pick the brown cap sauce storage can and position it next to the dark gray pot with side handles",
+    "Pick the brown cap sauce storage can up and carefully position it beside the round pot with dark gray knob",
+    "Lift the cylindrical container for sauce using the left arm and drop it beside the medium-sized smooth gray cooking pot",
+    "Move the white sauce can with label beside the kitchenpot with smooth texture after lifting it",
+    "Lift the smooth metal sauce can white and set it next to the kitchenpot with smooth texture",
+    "Grab the cylindrical can brown round top with the left arm and set it near the round pot with dark gray knob",
+    "Grab the white sauce can brown top, move it, and place by the dark gray pot with side handles",
+    "Grab the brown-lid sauce can and move it close to the dark gray pot with side handles",
+    "Use the left arm to grab the white sauce can with label and move it next to the medium gray pot with handles",
+    "Lift the white sauce can with label and place it next to the pot with lid and sturdy handles",
+    "Use the left arm to grab the hand-held sauce container, move it beside the kitchenpot with smooth texture",
+    "Place the brown-lid sauce can next to the dark gray pot with side handles",
+    "Pick up the white label brown lidded can and put it beside the dark gray pot with side handles",
+    "Use the left arm to take the brown-lid sauce can to the gray pot for boiling food",
+    "Use the left arm to pick the smooth metal sauce can white up and set it beside the pot with round lid",
+    "Take the white sauce can with label with the left arm, bring it, and set next to the kitchenpot with smooth texture",
+    "Use the left arm to grab the white label brown lidded can and transfer it near the metal cooking pot",
+    "Lift the white cylindrical sauce holder, place it by the metal cooking pot",
+    "Move the cylindrical can brown round top to the kitchenpot used for cooking meals with the left arm",
+    "Lift the smooth metal sauce can white and set it next to the pot with round lid",
+    "Take the cylindrical container for sauce with the left arm, place it near the gray pot for boiling food",
+    "Lift the cylindrical can brown round top, then place it next to the gray kitchenpot",
+    "Use the left arm to lift the white sauce can brown top and place it near the kitchenpot with smooth texture",
+    "Lift the brown-lid sauce can using the left arm and position it by the gray kitchenpot",
+    "Set the hand-held sauce container near the kitchenpot used for cooking meals after picking it up",
+    "Lift the cylindrical can brown round top and move it near the medium gray pot with handles",
+    "Take the cylindrical can brown round top to the rounded pot with metal lid using the left arm",
+    "Use the left arm to lift the cylindrical container for sauce, then move it next to the pot with lid and sturdy handles",
+    "Set the hand-held sauce container right next to the pot with lid and sturdy handles",
+    "Use the left arm to pick the brown top white sauce can, position it near the kitchenpot with smooth texture",
+    "Take the cylindrical container for sauce using the left arm, set it next to the gray kitchenpot",
+    "Grab the white sauce can brown top with the left arm and move it close to the kitchenpot used for cooking meals",
+    "Lift the hand-held sauce container and set it beside the round pot with dark gray knob",
+    "Grab the metal can with plastic lid with the left arm and position it beside the kitchenpot with smooth texture",
+    "Pick up the hand-held sauce container using the left arm, transfer it beside the metal cooking pot",
+    "With the left arm, grab the cylindrical can brown round top and move to the rounded pot with metal lid",
+    "Use the left arm to move the hand-held sauce container beside the gray kitchenpot",
+    "Move the white sauce can with label to be next to the dark gray pot with side handles",
+    "Pick the brown-lid sauce can up with the left arm then place near the dark gray pot with side handles",
+    "Use the left arm to lift the white sauce can brown top and place it next to the metal cooking pot",
+    "Pick the metal can with plastic lid with the left arm and relocate it near the kitchenpot used for cooking meals",
+    "Bring the brown-lid sauce can over and set it near the rounded pot with metal lid",
+    "Using the left arm, lift the smooth metal sauce can white and place it by the pot with round lid",
+    "Pick the metal can with plastic lid up and move it next to the gray kitchenpot",
+    "Pick up the metal can with plastic lid with the left arm and set by the medium gray pot with handles",
+    "Grab the cylindrical can brown round top, shift it, and place it close to the medium gray pot with handles",
+    "Grab the cylindrical can brown round top, move it to the dark gray pot with side handles's side",
+    "Use the left arm to grab the white sauce can brown top and move it beside the metal cooking pot",
+    "Move the brown top white sauce can from its spot to near the rounded pot with metal lid",
+    "Place the brown-lid sauce can beside the dark gray pot with side handles after picking it up",
+    "Pick the cylindrical container for sauce and position it next to the medium gray pot with handles",
+    "Pick the white sauce can brown top up and carefully position it beside the medium-sized smooth gray cooking pot",
+    "Lift the smooth metal sauce can white using the left arm and drop it beside the round pot with dark gray knob",
+    "Move the white sauce can with label beside the dark gray pot with side handles after lifting it",
+    "Lift the white sauce can brown top and set it next to the gray pot for boiling food",
+    "Grab the cylindrical can brown round top with the left arm and set it near the kitchenpot with smooth texture"
+  ],
+  "unseen": [
+    "Grab the medium sauce can with white label and place it beside the cylindrical kitchenpot for cooking",
+    "Pick up the sauce can and move it near the smooth gray pot with matte finish",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the metal pot with curved handles",
+    "Lift the medium-size cylindrical sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the metal pot with curved handles",
+    "Pick up the medium-size cylindrical sauce can and set it beside the smooth gray pot with matte finish",
+    "Grab the sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Grab the medium-size cylindrical sauce can and place it near the metal pot with curved handles",
+    "Grab the sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to grab the medium sauce can with white label and place it by the smooth gray pot with matte finish",
+    "Grab the sauce can and place it beside the smooth gray pot with matte finish",
+    "Pick up the medium-size cylindrical sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the sauce can and move it beside the smooth gray pot with matte finish",
+    "Lift the medium sauce can with white label and set it beside the metal pot with curved handles",
+    "Use the left arm to pick up the sauce can, move it near the metal pot with curved handles",
+    "Pick up the medium-size cylindrical sauce can and set it beside the metal pot with curved handles",
+    "Grab the medium sauce can with white label and move it near the cylindrical kitchenpot for cooking",
+    "Grab the medium sauce can with white label and place it near the smooth gray pot with matte finish",
+    "Grab the sauce can and set it beside the metal pot with curved handles",
+    "Use the left arm to grab the sauce can and place it by the smooth gray pot with matte finish",
+    "Grab the medium-size cylindrical sauce can and place it beside the smooth gray pot with matte finish",
+    "Pick up the sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the smooth gray pot with matte finish",
+    "Lift the medium-size cylindrical sauce can and set it beside the metal pot with curved handles",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the metal pot with curved handles",
+    "Pick up the medium-size cylindrical sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the medium-size cylindrical sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Grab the medium sauce can with white label and place it near the metal pot with curved handles",
+    "Grab the medium sauce can with white label and set it beside the metal pot with curved handles",
+    "Use the left arm to grab the medium sauce can with white label and place it by the metal pot with curved handles",
+    "Grab the sauce can and place it beside the smooth gray pot with matte finish",
+    "Pick up the medium sauce can with white label and move it near the metal pot with curved handles",
+    "Use the left arm to pick up the sauce can and move it beside the cylindrical kitchenpot for cooking",
+    "Lift the medium-size cylindrical sauce can and set it beside the metal pot with curved handles",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the smooth gray pot with matte finish",
+    "Pick up the medium-size cylindrical sauce can and set it beside the metal pot with curved handles",
+    "Grab the medium sauce can with white label and move it near the cylindrical kitchenpot for cooking",
+    "Grab the medium-size cylindrical sauce can and place it near the metal pot with curved handles",
+    "Grab the medium sauce can with white label and set it beside the metal pot with curved handles",
+    "Use the left arm to grab the medium-size cylindrical sauce can and place it by the cylindrical kitchenpot for cooking",
+    "Grab the sauce can and place it beside the metal pot with curved handles",
+    "Pick up the medium-size cylindrical sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the cylindrical kitchenpot for cooking",
+    "Lift the medium-size cylindrical sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the metal pot with curved handles",
+    "Pick up the medium-size cylindrical sauce can and set it beside the metal pot with curved handles",
+    "Grab the medium sauce can with white label and move it near the metal pot with curved handles",
+    "Grab the sauce can and place it near the smooth gray pot with matte finish",
+    "Grab the medium sauce can with white label and set it beside the metal pot with curved handles",
+    "Use the left arm to grab the medium sauce can with white label and place it by the cylindrical kitchenpot for cooking",
+    "Grab the sauce can and place it beside the metal pot with curved handles",
+    "Pick up the medium sauce can with white label and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the medium sauce can with white label and move it beside the cylindrical kitchenpot for cooking",
+    "Lift the sauce can and set it beside the metal pot with curved handles",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the metal pot with curved handles",
+    "Pick up the medium-size cylindrical sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the sauce can and move it near the metal pot with curved handles",
+    "Grab the medium sauce can with white label and place it near the cylindrical kitchenpot for cooking",
+    "Grab the sauce can and set it beside the metal pot with curved handles",
+    "Use the left arm to grab the medium sauce can with white label and place it by the metal pot with curved handles",
+    "Grab the medium sauce can with white label and place it beside the cylindrical kitchenpot for cooking",
+    "Pick up the medium-size cylindrical sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the sauce can and move it beside the metal pot with curved handles",
+    "Lift the sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the metal pot with curved handles",
+    "Pick up the medium sauce can with white label and set it beside the metal pot with curved handles",
+    "Grab the sauce can and move it near the smooth gray pot with matte finish",
+    "Grab the medium sauce can with white label and place it near the smooth gray pot with matte finish",
+    "Grab the sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to grab the sauce can and place it by the smooth gray pot with matte finish",
+    "Grab the medium sauce can with white label and place it beside the cylindrical kitchenpot for cooking",
+    "Pick up the medium sauce can with white label and move it near the metal pot with curved handles",
+    "Use the left arm to pick up the medium sauce can with white label and move it beside the metal pot with curved handles",
+    "Lift the sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the smooth gray pot with matte finish",
+    "Pick up the medium-size cylindrical sauce can and set it beside the smooth gray pot with matte finish",
+    "Grab the sauce can and move it near the metal pot with curved handles",
+    "Grab the sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Grab the medium-size cylindrical sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to grab the medium-size cylindrical sauce can and place it by the smooth gray pot with matte finish",
+    "Grab the medium-size cylindrical sauce can and place it beside the smooth gray pot with matte finish",
+    "Pick up the medium-size cylindrical sauce can and move it near the smooth gray pot with matte finish",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the metal pot with curved handles",
+    "Lift the sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the smooth gray pot with matte finish",
+    "Pick up the sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Grab the sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Grab the medium-size cylindrical sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to grab the medium sauce can with white label and place it by the smooth gray pot with matte finish",
+    "Grab the medium sauce can with white label and place it beside the cylindrical kitchenpot for cooking",
+    "Pick up the medium sauce can with white label and move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the sauce can and move it beside the smooth gray pot with matte finish",
+    "Lift the medium sauce can with white label and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the sauce can, move it near the metal pot with curved handles",
+    "Pick up the sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the medium sauce can with white label and move it near the smooth gray pot with matte finish",
+    "Grab the sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Grab the medium sauce can with white label and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to grab the medium sauce can with white label and place it by the smooth gray pot with matte finish"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001096.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the cylindrical sauce can right next to the grey kitchenpot with dark circle inside",
+    "Use the left arm to lift the medium sauce can, then move it next to the kitchenpot with sturdy plastic body",
+    "Use the left arm to lift the sauce can with ingredient information and place it next to the smooth kitchenpot with black button",
+    "Use the left arm to lift the printed label sauce can and place it near the kitchenpot with black base",
+    "Lift the smooth cylindrical sauce can and place it next to the round kitchenpot",
+    "Bring the sauce can with ingredient information over and set it near the round kitchenpot",
+    "Move the sauce can with ingredient information from its spot to near the cylindrical kitchenpot with flat edges",
+    "Lift the yellow label sauce can, then place it next to the kitchenpot with red indicator light",
+    "Move the sauce can for condiments to the kitchenpot with black base with the left arm",
+    "Grab the medium sauce can with the left arm and move it close to the cylindrical kitchenpot with flat edges",
+    "Pick up the sauce can for condiments and put it beside the smooth kitchenpot with black button",
+    "Pick the medium sauce can up with the left arm then place near the kitchenpot with sturdy plastic body",
+    "Pick up the sauce can with ingredient information using the left arm, transfer it beside the grey kitchenpot with dark circle inside",
+    "Grab the medium sauce can with the left arm and position it beside the light grey kitchenpot with dark top",
+    "Use the left arm to grab the medium sauce can, move it beside the kitchenpot with red indicator light",
+    "Lift the sauce can with ingredient information and set it next to the cylindrical kitchenpot with flat edges",
+    "Use the left arm to pick the sauce can for condiments, position it near the smooth kitchenpot with black button",
+    "Set the yellow and brown sauce can near the round kitchenpot after picking it up",
+    "Use the left arm to take the medium sauce can to the smooth kitchenpot with black button",
+    "Pick the yellow and brown sauce can with the left arm and relocate it near the kitchenpot with red indicator light",
+    "Use the left arm to pick the medium sauce can up and set it beside the kitchenpot with red indicator light",
+    "Pick the sauce can for condiments up and carefully position it beside the kitchenpot with black base",
+    "Grab the medium sauce can and move it close to the kitchenpot with red indicator light",
+    "Using the left arm, lift the brown sauce can and place it by the light grey kitchenpot with dark top",
+    "Use the left arm to grab the cylindrical sauce can and transfer it near the round kitchenpot",
+    "Lift the cylindrical sauce can and set it next to the matte-finished kitchenpot",
+    "With the left arm, grab the medium sauce can and move to the kitchenpot with black base",
+    "Use the left arm to move the sauce can with ingredient information beside the round kitchenpot",
+    "Take the metal sauce can using the left arm, set it next to the kitchenpot with black rectangular panel",
+    "Place the sauce can with ingredient information beside the grey kitchenpot with dark circle inside after picking it up",
+    "Move the sauce can for condiments to be next to the cylindrical kitchenpot with flat edges",
+    "Grab the sauce can with brown lid, shift it, and place it close to the matte-finished kitchenpot",
+    "Grab the medium sauce can, move it to the kitchenpot with black rectangular panel's side",
+    "Take the sauce can for condiments with the left arm, place it near the matte-finished kitchenpot",
+    "Pick up the smooth cylindrical sauce can with the left arm and set by the grey kitchenpot with dark circle inside",
+    "Pick the brown sauce can and position it next to the grey kitchenpot with dark circle inside",
+    "Lift the brown top sauce can and move it near the kitchenpot with red indicator light",
+    "Use the left arm to grab the brown sauce can and move it beside the kitchenpot with black base",
+    "Lift the brown top sauce can using the left arm and position it by the light grey kitchenpot with dark top",
+    "Lift the printed label sauce can and set it beside the matte-finished kitchenpot",
+    "Place the metal sauce can next to the matte-finished kitchenpot",
+    "Lift the brown sauce can using the left arm and drop it beside the grey kitchenpot with dark circle inside",
+    "Move the brown top sauce can beside the kitchenpot with black rectangular panel after lifting it",
+    "Lift the yellow label sauce can, place it by the cylindrical kitchenpot with flat edges",
+    "Take the metal sauce can with the left arm, bring it, and set next to the grey kitchenpot with dark circle inside",
+    "Pick the yellow label sauce can up and move it next to the grey kitchenpot",
+    "Use the left arm to grab the metal sauce can and move it next to the grey kitchenpot",
+    "Grab the brown top sauce can, move it, and place by the kitchenpot with two side handles",
+    "Take the cylindrical sauce can to the kitchenpot with black base using the left arm",
+    "Grab the sauce can with brown lid with the left arm and set it near the round kitchenpot",
+    "Set the sauce can for condiments right next to the grey kitchenpot",
+    "Use the left arm to lift the brown top sauce can, then move it next to the cylindrical kitchenpot with flat edges",
+    "Use the left arm to lift the medium sauce can and place it next to the grey kitchenpot with dark circle inside",
+    "Use the left arm to lift the sauce can for condiments and place it near the kitchenpot with red indicator light",
+    "Lift the cylindrical sauce can and place it next to the smooth kitchenpot with black button",
+    "Bring the sauce can with brown lid over and set it near the matte-finished kitchenpot",
+    "Move the cylindrical sauce can from its spot to near the kitchenpot with red indicator light",
+    "Lift the sauce can for condiments, then place it next to the round kitchenpot",
+    "Move the metal sauce can to the kitchenpot with red indicator light with the left arm",
+    "Grab the smooth cylindrical sauce can with the left arm and move it close to the kitchenpot with sturdy plastic body",
+    "Pick up the printed label sauce can and put it beside the kitchenpot with black base",
+    "Pick the printed label sauce can up with the left arm then place near the kitchenpot with red indicator light",
+    "Pick up the printed label sauce can using the left arm, transfer it beside the grey kitchenpot",
+    "Grab the cylindrical sauce can with the left arm and position it beside the kitchenpot with two side handles",
+    "Use the left arm to grab the brown sauce can, move it beside the matte-finished kitchenpot",
+    "Lift the medium sauce can and set it next to the cylindrical kitchenpot with flat edges",
+    "Use the left arm to pick the brown sauce can, position it near the light grey kitchenpot with dark top",
+    "Set the yellow and brown sauce can near the kitchenpot with black rectangular panel after picking it up",
+    "Use the left arm to take the sauce can with brown lid to the grey kitchenpot with dark circle inside",
+    "Pick the metal sauce can with the left arm and relocate it near the grey kitchenpot",
+    "Use the left arm to pick the smooth cylindrical sauce can up and set it beside the round kitchenpot",
+    "Pick the printed label sauce can up and carefully position it beside the matte-finished kitchenpot",
+    "Grab the brown sauce can and move it close to the grey kitchenpot",
+    "Using the left arm, lift the sauce can with ingredient information and place it by the light grey kitchenpot with dark top",
+    "Use the left arm to grab the brown sauce can and transfer it near the grey kitchenpot with dark circle inside",
+    "Lift the smooth cylindrical sauce can and set it next to the matte-finished kitchenpot",
+    "With the left arm, grab the brown sauce can and move to the kitchenpot with sturdy plastic body",
+    "Use the left arm to move the cylindrical sauce can beside the kitchenpot with sturdy plastic body",
+    "Take the sauce can with brown lid using the left arm, set it next to the kitchenpot with black base",
+    "Place the printed label sauce can beside the kitchenpot with sturdy plastic body after picking it up",
+    "Move the medium sauce can to be next to the kitchenpot with two side handles",
+    "Grab the sauce can with ingredient information, shift it, and place it close to the kitchenpot with black base",
+    "Grab the printed label sauce can, move it to the smooth kitchenpot with black button's side",
+    "Take the medium sauce can with the left arm, place it near the grey kitchenpot with dark circle inside",
+    "Pick up the brown sauce can with the left arm and set by the grey kitchenpot with dark circle inside",
+    "Pick the yellow label sauce can and position it next to the kitchenpot with sturdy plastic body",
+    "Lift the sauce can with brown lid and move it near the round kitchenpot",
+    "Use the left arm to grab the printed label sauce can and move it beside the grey kitchenpot with dark circle inside",
+    "Lift the medium sauce can using the left arm and position it by the kitchenpot with sturdy plastic body",
+    "Lift the sauce can with ingredient information and set it beside the grey kitchenpot with dark circle inside",
+    "Place the brown top sauce can next to the kitchenpot with red indicator light",
+    "Lift the brown top sauce can using the left arm and drop it beside the matte-finished kitchenpot",
+    "Move the sauce can for condiments beside the grey kitchenpot with dark circle inside after lifting it",
+    "Lift the yellow and brown sauce can, place it by the kitchenpot with black rectangular panel",
+    "Take the yellow label sauce can with the left arm, bring it, and set next to the kitchenpot with red indicator light",
+    "Pick the smooth cylindrical sauce can up and move it next to the kitchenpot with two side handles",
+    "Use the left arm to grab the yellow and brown sauce can and move it next to the kitchenpot with red indicator light",
+    "Grab the smooth cylindrical sauce can, move it, and place by the grey kitchenpot",
+    "Take the sauce can with brown lid to the cylindrical kitchenpot with flat edges using the left arm",
+    "Grab the sauce can with brown lid with the left arm and set it near the kitchenpot with sturdy plastic body"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the hand-sized sauce can, move it near the kitchenpot for cooking food",
+    "Grab the metal body sauce can and move it near the medium kitchenpot",
+    "Use the left arm to pick up the metal body sauce can and move it beside the medium kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and place it by the kitchenpot for cooking food",
+    "Grab the hand-sized sauce can and set it beside the medium kitchenpot",
+    "Pick up the metal body sauce can and set it beside the kitchenpot for cooking food",
+    "Pick up the hand-sized sauce can and move it near the medium kitchenpot",
+    "Grab the metal body sauce can and place it near the medium kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the metal body sauce can and place it beside the medium kitchenpot",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the kitchenpot for cooking food",
+    "Grab the sauce can with smooth surface and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the kitchenpot for cooking food",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the compact kitchenpot with lid-like surface",
+    "Grab the hand-sized sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the hand-sized sauce can and set it beside the kitchenpot for cooking food",
+    "Pick up the sauce can with smooth surface and move it near the compact kitchenpot with lid-like surface",
+    "Grab the metal body sauce can and place it near the medium kitchenpot",
+    "Lift the sauce can with smooth surface and set it beside the compact kitchenpot with lid-like surface",
+    "Grab the metal body sauce can and place it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with smooth surface and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to grab the hand-sized sauce can and place it by the kitchenpot for cooking food",
+    "Grab the hand-sized sauce can and set it beside the kitchenpot for cooking food",
+    "Pick up the hand-sized sauce can and set it beside the medium kitchenpot",
+    "Pick up the sauce can with smooth surface and move it near the medium kitchenpot",
+    "Grab the metal body sauce can and place it near the medium kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the kitchenpot for cooking food",
+    "Grab the metal body sauce can and place it beside the medium kitchenpot",
+    "Use the left arm to pick up the metal body sauce can, move it near the kitchenpot for cooking food",
+    "Grab the sauce can with smooth surface and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the metal body sauce can and move it beside the kitchenpot for cooking food",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the medium kitchenpot",
+    "Grab the sauce can with smooth surface and set it beside the medium kitchenpot",
+    "Pick up the sauce can with smooth surface and set it beside the medium kitchenpot",
+    "Pick up the metal body sauce can and move it near the kitchenpot for cooking food",
+    "Grab the sauce can with smooth surface and place it near the medium kitchenpot",
+    "Lift the metal body sauce can and set it beside the medium kitchenpot",
+    "Grab the metal body sauce can and place it beside the kitchenpot for cooking food",
+    "Use the left arm to pick up the metal body sauce can, move it near the kitchenpot for cooking food",
+    "Grab the sauce can with smooth surface and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the compact kitchenpot with lid-like surface",
+    "Grab the hand-sized sauce can and set it beside the medium kitchenpot",
+    "Pick up the hand-sized sauce can and set it beside the kitchenpot for cooking food",
+    "Pick up the sauce can with smooth surface and move it near the compact kitchenpot with lid-like surface",
+    "Grab the metal body sauce can and place it near the kitchenpot for cooking food",
+    "Lift the sauce can with smooth surface and set it beside the kitchenpot for cooking food",
+    "Grab the hand-sized sauce can and place it beside the medium kitchenpot",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the compact kitchenpot with lid-like surface",
+    "Grab the metal body sauce can and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the kitchenpot for cooking food",
+    "Use the left arm to grab the metal body sauce can and place it by the kitchenpot for cooking food",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot for cooking food",
+    "Pick up the hand-sized sauce can and set it beside the medium kitchenpot",
+    "Pick up the metal body sauce can and move it near the medium kitchenpot",
+    "Grab the metal body sauce can and place it near the compact kitchenpot with lid-like surface",
+    "Lift the metal body sauce can and set it beside the medium kitchenpot",
+    "Grab the hand-sized sauce can and place it beside the medium kitchenpot",
+    "Use the left arm to pick up the hand-sized sauce can, move it near the kitchenpot for cooking food",
+    "Grab the sauce can with smooth surface and move it near the compact kitchenpot with lid-like surface",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the compact kitchenpot with lid-like surface",
+    "Use the left arm to grab the hand-sized sauce can and place it by the kitchenpot for cooking food",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot for cooking food",
+    "Pick up the metal body sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the metal body sauce can and move it near the medium kitchenpot",
+    "Grab the sauce can with smooth surface and place it near the medium kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the medium kitchenpot",
+    "Grab the hand-sized sauce can and place it beside the medium kitchenpot",
+    "Use the left arm to pick up the metal body sauce can, move it near the kitchenpot for cooking food",
+    "Grab the hand-sized sauce can and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the hand-sized sauce can and move it beside the medium kitchenpot",
+    "Use the left arm to grab the sauce can with smooth surface and place it by the medium kitchenpot",
+    "Grab the metal body sauce can and set it beside the medium kitchenpot",
+    "Pick up the hand-sized sauce can and set it beside the kitchenpot for cooking food",
+    "Pick up the hand-sized sauce can and move it near the medium kitchenpot",
+    "Grab the hand-sized sauce can and place it near the kitchenpot for cooking food",
+    "Lift the metal body sauce can and set it beside the kitchenpot for cooking food",
+    "Grab the hand-sized sauce can and place it beside the medium kitchenpot",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the kitchenpot for cooking food",
+    "Grab the hand-sized sauce can and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the kitchenpot for cooking food",
+    "Use the left arm to grab the metal body sauce can and place it by the medium kitchenpot",
+    "Grab the hand-sized sauce can and set it beside the compact kitchenpot with lid-like surface",
+    "Pick up the sauce can with smooth surface and set it beside the kitchenpot for cooking food",
+    "Pick up the metal body sauce can and move it near the kitchenpot for cooking food",
+    "Grab the hand-sized sauce can and place it near the medium kitchenpot",
+    "Lift the hand-sized sauce can and set it beside the medium kitchenpot",
+    "Grab the hand-sized sauce can and place it beside the kitchenpot for cooking food",
+    "Use the left arm to pick up the sauce can with smooth surface, move it near the compact kitchenpot with lid-like surface",
+    "Grab the sauce can with smooth surface and move it near the kitchenpot for cooking food",
+    "Use the left arm to pick up the sauce can with smooth surface and move it beside the medium kitchenpot",
+    "Use the left arm to grab the hand-sized sauce can and place it by the medium kitchenpot",
+    "Grab the sauce can with smooth surface and set it beside the medium kitchenpot",
+    "Pick up the metal body sauce can and set it beside the medium kitchenpot",
+    "Pick up the sauce can with smooth surface and move it near the kitchenpot for cooking food",
+    "Grab the sauce can with smooth surface and place it near the medium kitchenpot",
+    "Lift the metal body sauce can and set it beside the medium kitchenpot",
+    "Grab the metal body sauce can and place it beside the kitchenpot for cooking food"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001100.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the sauce can with glossy finish and set it beside the round pot with dark gray knob",
+    "Set the yellow brown sauce can near the dark gray pot with side handles after picking it up",
+    "Take the white plastic lid sauce can using the right arm, set it next to the pot with round lid",
+    "Move the round sauce can with yellow pattern to be next to the metal cooking pot",
+    "Lift the white plastic lid sauce can and place it next to the medium-sized smooth gray cooking pot",
+    "Grab the rounded-edge sauce can, move it, and place by the round pot with dark gray knob",
+    "Lift the sauce can, then place it next to the gray kitchenpot",
+    "Pick the yellow brown sauce can and position it next to the medium gray pot with handles",
+    "Set the round sauce can with yellow pattern right next to the pot with round lid",
+    "Pick the cylindrical sauce can up and carefully position it beside the metal cooking pot",
+    "Use the right arm to grab the hand-sized sauce can, move it beside the medium gray pot with handles",
+    "Place the cylindrical sauce can beside the medium-sized smooth gray cooking pot after picking it up",
+    "Grab the sauce can with sealed top with the right arm and move it close to the round pot with dark gray knob",
+    "Take the round sauce can with yellow pattern with the right arm, place it near the pot with round lid",
+    "Pick the white plastic lid sauce can up and move it next to the rounded pot with metal lid",
+    "Take the brown and yellow cylindrical sauce can with the right arm, bring it, and set next to the pot with round lid",
+    "Using the right arm, lift the yellow brown sauce can and place it by the medium-sized smooth gray cooking pot",
+    "Place the white plastic lid sauce can next to the medium gray pot with handles",
+    "Use the right arm to move the white plastic lid sauce can beside the kitchenpot with smooth texture",
+    "Use the right arm to pick the medium sauce can with white lid up and set it beside the kitchenpot used for cooking meals",
+    "Move the sauce can with sealed top to the gray kitchenpot with the right arm",
+    "Use the right arm to grab the brown and yellow cylindrical sauce can and transfer it near the medium gray pot with handles",
+    "Grab the yellow brown sauce can, move it to the medium gray pot with handles's side",
+    "Use the right arm to pick the medium sauce can with white lid, position it near the metal cooking pot",
+    "Lift the sauce can with glossy finish and set it next to the metal cooking pot",
+    "Grab the round sauce can with yellow pattern with the right arm and set it near the pot with round lid",
+    "Grab the plastic lid sauce can with the right arm and position it beside the kitchenpot with smooth texture",
+    "Lift the medium sauce can with white lid and move it near the pot with round lid",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the medium-sized smooth gray cooking pot",
+    "Pick the sauce can with the right arm and relocate it near the rounded pot with metal lid",
+    "Take the sauce can to the kitchenpot with smooth texture using the right arm",
+    "Bring the plastic lid sauce can over and set it near the medium gray pot with handles",
+    "Lift the rounded-edge sauce can and set it next to the kitchenpot with smooth texture",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the medium-sized smooth gray cooking pot",
+    "Pick up the rounded-edge sauce can using the right arm, transfer it beside the kitchenpot used for cooking meals",
+    "Use the right arm to lift the rounded-edge sauce can and place it next to the metal cooking pot",
+    "Lift the round sauce can with yellow pattern using the right arm and position it by the gray pot for boiling food",
+    "Lift the plastic lid sauce can using the right arm and drop it beside the dark gray pot with side handles",
+    "Grab the white plastic lid sauce can and move it close to the kitchenpot with smooth texture",
+    "Use the right arm to lift the brown and yellow cylindrical sauce can and place it near the medium gray pot with handles",
+    "With the right arm, grab the white plastic lid sauce can and move to the gray kitchenpot",
+    "Move the cylindrical sauce can beside the medium gray pot with handles after lifting it",
+    "Pick up the yellow brown sauce can with the right arm and set by the gray kitchenpot",
+    "Use the right arm to lift the round sauce can with yellow pattern, then move it next to the gray pot for boiling food",
+    "Move the sauce can from its spot to near the gray kitchenpot",
+    "Use the right arm to grab the white plastic lid sauce can and move it next to the pot with round lid",
+    "Pick the sauce can with sealed top up with the right arm then place near the metal cooking pot",
+    "Use the right arm to take the hand-sized sauce can to the kitchenpot used for cooking meals",
+    "Lift the sauce can with sealed top, place it by the rounded pot with metal lid",
+    "Use the right arm to grab the white plastic lid sauce can and move it beside the gray kitchenpot",
+    "Lift the medium sauce can with white lid and set it beside the dark gray pot with side handles",
+    "Set the white plastic lid sauce can near the rounded pot with metal lid after picking it up",
+    "Take the sauce can with sealed top using the right arm, set it next to the pot with round lid",
+    "Move the medium sauce can with white lid to be next to the metal cooking pot",
+    "Lift the sauce can and place it next to the rounded pot with metal lid",
+    "Grab the hand-sized sauce can, move it, and place by the kitchenpot with smooth texture",
+    "Lift the cylindrical sauce can, then place it next to the medium-sized smooth gray cooking pot",
+    "Pick the sauce can and position it next to the round pot with dark gray knob",
+    "Set the white plastic lid sauce can right next to the gray pot for boiling food",
+    "Pick the cylindrical sauce can up and carefully position it beside the pot with lid and sturdy handles",
+    "Use the right arm to grab the cylindrical sauce can, move it beside the medium-sized smooth gray cooking pot",
+    "Place the brown and yellow cylindrical sauce can beside the rounded pot with metal lid after picking it up",
+    "Grab the white plastic lid sauce can with the right arm and move it close to the metal cooking pot",
+    "Take the white plastic lid sauce can with the right arm, place it near the pot with round lid",
+    "Pick the sauce can with sealed top up and move it next to the kitchenpot used for cooking meals",
+    "Take the brown and yellow cylindrical sauce can with the right arm, bring it, and set next to the dark gray pot with side handles",
+    "Using the right arm, lift the cylindrical sauce can and place it by the metal cooking pot",
+    "Place the plastic lid sauce can next to the metal cooking pot",
+    "Use the right arm to move the sauce can with glossy finish beside the pot with round lid",
+    "Use the right arm to pick the medium sauce can with white lid up and set it beside the dark gray pot with side handles",
+    "Move the white plastic lid sauce can to the kitchenpot used for cooking meals with the right arm",
+    "Use the right arm to grab the cylindrical sauce can and transfer it near the kitchenpot used for cooking meals",
+    "Grab the round sauce can with yellow pattern, move it to the kitchenpot with smooth texture's side",
+    "Use the right arm to pick the hand-sized sauce can, position it near the gray pot for boiling food",
+    "Lift the white plastic lid sauce can and set it next to the rounded pot with metal lid",
+    "Grab the brown and yellow cylindrical sauce can with the right arm and set it near the gray kitchenpot",
+    "Grab the yellow brown sauce can with the right arm and position it beside the gray pot for boiling food",
+    "Lift the cylindrical sauce can and move it near the metal cooking pot",
+    "Grab the cylindrical sauce can, shift it, and place it close to the kitchenpot with smooth texture",
+    "Pick the brown and yellow cylindrical sauce can with the right arm and relocate it near the pot with lid and sturdy handles",
+    "Take the sauce can with glossy finish to the kitchenpot used for cooking meals using the right arm",
+    "Bring the round sauce can with yellow pattern over and set it near the medium gray pot with handles",
+    "Lift the sauce can with glossy finish and set it next to the pot with lid and sturdy handles",
+    "Pick up the rounded-edge sauce can and put it beside the kitchenpot with smooth texture",
+    "Pick up the sauce can using the right arm, transfer it beside the pot with round lid",
+    "Use the right arm to lift the hand-sized sauce can and place it next to the rounded pot with metal lid",
+    "Lift the rounded-edge sauce can using the right arm and position it by the medium gray pot with handles",
+    "Lift the hand-sized sauce can using the right arm and drop it beside the kitchenpot used for cooking meals",
+    "Grab the white plastic lid sauce can and move it close to the gray pot for boiling food",
+    "Use the right arm to lift the medium sauce can with white lid and place it near the dark gray pot with side handles",
+    "With the right arm, grab the hand-sized sauce can and move to the pot with round lid",
+    "Move the white plastic lid sauce can beside the kitchenpot with smooth texture after lifting it",
+    "Pick up the sauce can with glossy finish with the right arm and set by the kitchenpot used for cooking meals",
+    "Use the right arm to lift the hand-sized sauce can, then move it next to the kitchenpot with smooth texture",
+    "Move the round sauce can with yellow pattern from its spot to near the pot with lid and sturdy handles",
+    "Use the right arm to grab the sauce can and move it next to the medium gray pot with handles",
+    "Pick the white plastic lid sauce can up with the right arm then place near the gray pot for boiling food",
+    "Use the right arm to take the medium sauce can with white lid to the medium gray pot with handles",
+    "Lift the plastic lid sauce can, place it by the dark gray pot with side handles",
+    "Use the right arm to grab the white plastic lid sauce can and move it beside the rounded pot with metal lid"
+  ],
+  "unseen": [
+    "Use the right arm to pick up the smooth sauce can, move it near the cylindrical kitchenpot for cooking",
+    "Grab the yellow label on sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Lift the yellow label on sauce can and set it beside the metal pot with curved handles",
+    "Grab the yellow label on sauce can and place it beside the cylindrical kitchenpot for cooking",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the smooth gray pot with matte finish",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the smooth gray pot with matte finish",
+    "Pick up the brown sauce can with top lid and set it beside the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and move it near the metal pot with curved handles",
+    "Grab the yellow label on sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Pick up the brown sauce can with top lid and move it near the cylindrical kitchenpot for cooking",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the smooth gray pot with matte finish",
+    "Grab the yellow label on sauce can and set it beside the smooth gray pot with matte finish",
+    "Lift the yellow label on sauce can and set it beside the metal pot with curved handles",
+    "Grab the brown sauce can with top lid and place it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the cylindrical kitchenpot for cooking",
+    "Use the right arm to grab the smooth sauce can and place it by the metal pot with curved handles",
+    "Pick up the brown sauce can with top lid and set it beside the metal pot with curved handles",
+    "Grab the smooth sauce can and move it near the smooth gray pot with matte finish",
+    "Grab the yellow label on sauce can and place it near the metal pot with curved handles",
+    "Pick up the smooth sauce can and move it near the smooth gray pot with matte finish",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the cylindrical kitchenpot for cooking",
+    "Grab the brown sauce can with top lid and set it beside the cylindrical kitchenpot for cooking",
+    "Lift the brown sauce can with top lid and set it beside the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and place it beside the metal pot with curved handles",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the smooth gray pot with matte finish",
+    "Use the right arm to grab the yellow label on sauce can and place it by the metal pot with curved handles",
+    "Pick up the smooth sauce can and set it beside the smooth gray pot with matte finish",
+    "Grab the yellow label on sauce can and move it near the metal pot with curved handles",
+    "Grab the brown sauce can with top lid and place it near the cylindrical kitchenpot for cooking",
+    "Pick up the smooth sauce can and move it near the smooth gray pot with matte finish",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the metal pot with curved handles",
+    "Grab the smooth sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Lift the brown sauce can with top lid and set it beside the metal pot with curved handles",
+    "Grab the smooth sauce can and place it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the smooth gray pot with matte finish",
+    "Use the right arm to grab the smooth sauce can and place it by the cylindrical kitchenpot for cooking",
+    "Pick up the brown sauce can with top lid and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the brown sauce can with top lid and move it near the metal pot with curved handles",
+    "Grab the smooth sauce can and place it near the metal pot with curved handles",
+    "Pick up the brown sauce can with top lid and move it near the cylindrical kitchenpot for cooking",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the cylindrical kitchenpot for cooking",
+    "Grab the smooth sauce can and set it beside the metal pot with curved handles",
+    "Lift the yellow label on sauce can and set it beside the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and place it beside the metal pot with curved handles",
+    "Use the right arm to pick up the smooth sauce can and move it beside the metal pot with curved handles",
+    "Use the right arm to grab the yellow label on sauce can and place it by the smooth gray pot with matte finish",
+    "Pick up the smooth sauce can and set it beside the metal pot with curved handles",
+    "Grab the smooth sauce can and move it near the smooth gray pot with matte finish",
+    "Grab the yellow label on sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Pick up the brown sauce can with top lid and move it near the cylindrical kitchenpot for cooking",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the smooth gray pot with matte finish",
+    "Grab the yellow label on sauce can and set it beside the metal pot with curved handles",
+    "Lift the smooth sauce can and set it beside the metal pot with curved handles",
+    "Grab the brown sauce can with top lid and place it beside the cylindrical kitchenpot for cooking",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the cylindrical kitchenpot for cooking",
+    "Use the right arm to grab the smooth sauce can and place it by the metal pot with curved handles",
+    "Pick up the yellow label on sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the brown sauce can with top lid and move it near the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Pick up the brown sauce can with top lid and move it near the cylindrical kitchenpot for cooking",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the cylindrical kitchenpot for cooking",
+    "Grab the brown sauce can with top lid and set it beside the metal pot with curved handles",
+    "Lift the yellow label on sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the smooth sauce can and place it beside the metal pot with curved handles",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the smooth gray pot with matte finish",
+    "Use the right arm to grab the yellow label on sauce can and place it by the smooth gray pot with matte finish",
+    "Pick up the yellow label on sauce can and set it beside the smooth gray pot with matte finish",
+    "Grab the yellow label on sauce can and move it near the metal pot with curved handles",
+    "Grab the brown sauce can with top lid and place it near the smooth gray pot with matte finish",
+    "Pick up the brown sauce can with top lid and move it near the metal pot with curved handles",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the metal pot with curved handles",
+    "Grab the yellow label on sauce can and set it beside the metal pot with curved handles",
+    "Lift the yellow label on sauce can and set it beside the smooth gray pot with matte finish",
+    "Grab the yellow label on sauce can and place it beside the metal pot with curved handles",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the smooth gray pot with matte finish",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the metal pot with curved handles",
+    "Pick up the smooth sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the smooth sauce can and move it near the metal pot with curved handles",
+    "Grab the smooth sauce can and place it near the metal pot with curved handles",
+    "Pick up the smooth sauce can and move it near the smooth gray pot with matte finish",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the metal pot with curved handles",
+    "Grab the smooth sauce can and set it beside the metal pot with curved handles",
+    "Lift the yellow label on sauce can and set it beside the metal pot with curved handles",
+    "Grab the brown sauce can with top lid and place it beside the metal pot with curved handles",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the metal pot with curved handles",
+    "Use the right arm to grab the yellow label on sauce can and place it by the metal pot with curved handles",
+    "Pick up the yellow label on sauce can and set it beside the metal pot with curved handles",
+    "Grab the brown sauce can with top lid and move it near the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Pick up the smooth sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Use the right arm to pick up the smooth sauce can, move it near the metal pot with curved handles",
+    "Grab the yellow label on sauce can and set it beside the smooth gray pot with matte finish",
+    "Lift the smooth sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the brown sauce can with top lid and place it beside the smooth gray pot with matte finish",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the smooth gray pot with matte finish",
+    "Use the right arm to grab the yellow label on sauce can and place it by the cylindrical kitchenpot for cooking",
+    "Pick up the smooth sauce can and set it beside the metal pot with curved handles",
+    "Grab the yellow label on sauce can and move it near the metal pot with curved handles",
+    "Grab the yellow label on sauce can and place it near the metal pot with curved handles",
+    "Pick up the brown sauce can with top lid and move it near the smooth gray pot with matte finish"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001108.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the cylindrical container for sauce, move it beside the black cooking pot with silver handles",
+    "Lift the hand-held sauce container, then place it next to the black kitchenpot with round lid",
+    "Use the right arm to grab the hand-held sauce container and move it next to the medium kitchenpot with smooth surface",
+    "Grab the white cylindrical sauce holder with the right arm and position it beside the black metal kitchenpot",
+    "Move the smooth metal sauce can white beside the cooking kitchenpot with sturdy handles after lifting it",
+    "With the right arm, grab the metal can with plastic lid and move to the black kitchenpot with plastic lid handle",
+    "Use the right arm to take the white cylindrical sauce holder to the medium kitchenpot with smooth surface",
+    "Lift the white cylindrical sauce holder using the right arm and position it by the black kitchenpot",
+    "Lift the metal can with plastic lid, place it by the black kitchenpot",
+    "Grab the cylindrical can brown round top, move it, and place by the medium kitchenpot with smooth surface",
+    "Use the right arm to grab the brown-lid sauce can and move it beside the medium kitchenpot with smooth surface",
+    "Use the right arm to lift the brown top white sauce can, then move it next to the kitchenpot for boiling food",
+    "Use the right arm to move the white cylindrical sauce holder beside the medium kitchenpot with smooth surface",
+    "Pick the smooth metal sauce can white up and move it next to the black kitchenpot with plastic lid handle",
+    "Lift the white label brown lidded can using the right arm and drop it beside the black kitchenpot",
+    "Grab the cylindrical can brown round top with the right arm and set it near the black kitchenpot",
+    "Pick the brown top white sauce can up and carefully position it beside the black kitchenpot with round lid",
+    "Pick the cylindrical container for sauce and position it next to the medium kitchenpot with smooth surface",
+    "Use the right arm to lift the white cylindrical sauce holder and place it near the black kitchenpot with flat lid",
+    "Pick up the hand-held sauce container with the right arm and set by the black kitchenpot with round lid",
+    "Pick the white cylindrical sauce holder with the right arm and relocate it near the kitchenpot for boiling food",
+    "Move the smooth metal sauce can white from its spot to near the black kitchenpot with silver handle bars",
+    "Lift the cylindrical container for sauce and set it next to the black kitchenpot with flat lid",
+    "Take the white cylindrical sauce holder with the right arm, place it near the black kitchenpot with flat lid",
+    "Take the brown cap sauce storage can using the right arm, set it next to the medium kitchenpot with smooth surface",
+    "Lift the metal can with plastic lid and move it near the cooking kitchenpot with sturdy handles",
+    "Use the right arm to pick the white label brown lidded can up and set it beside the black metal kitchenpot",
+    "Take the brown-lid sauce can to the black kitchenpot with silver handle bars using the right arm",
+    "Take the brown-lid sauce can with the right arm, bring it, and set next to the cooking kitchenpot with sturdy handles",
+    "Move the white cylindrical sauce holder to be next to the black kitchenpot with round lid",
+    "Grab the cylindrical container for sauce, move it to the black kitchenpot's side",
+    "Pick the white sauce can with label up with the right arm then place near the black kitchenpot with round lid",
+    "Set the white sauce can with label near the medium kitchenpot with smooth surface after picking it up",
+    "Use the right arm to pick the brown-lid sauce can, position it near the black kitchenpot with silver handle bars",
+    "Using the right arm, lift the smooth metal sauce can white and place it by the black metal kitchenpot",
+    "Pick up the metal can with plastic lid using the right arm, transfer it beside the black kitchenpot with round lid",
+    "Set the brown-lid sauce can right next to the black cooking pot with silver handles",
+    "Place the white sauce can brown top next to the black kitchenpot with flat lid",
+    "Move the smooth metal sauce can white to the black kitchenpot with silver handle bars with the right arm",
+    "Use the right arm to grab the brown cap sauce storage can and transfer it near the black cooking pot with silver handles",
+    "Grab the white sauce can with label, shift it, and place it close to the kitchenpot for boiling food",
+    "Place the hand-held sauce container beside the black kitchenpot with silver and black handles after picking it up",
+    "Pick up the white cylindrical sauce holder and put it beside the black kitchenpot with plastic lid handle",
+    "Bring the brown top white sauce can over and set it near the black cooking pot with silver handles",
+    "Grab the cylindrical can brown round top and move it close to the black kitchenpot with silver handle bars",
+    "Lift the brown top white sauce can and place it next to the black kitchenpot with silver and black handles",
+    "Lift the smooth metal sauce can white and set it next to the black kitchenpot with round lid",
+    "Lift the hand-held sauce container and set it beside the black cooking pot with silver handles",
+    "Use the right arm to lift the smooth metal sauce can white and place it next to the black kitchenpot with plastic lid handle",
+    "Grab the cylindrical container for sauce with the right arm and move it close to the black kitchenpot with silver handle bars",
+    "Use the right arm to grab the white sauce can with label, move it beside the black kitchenpot with round lid",
+    "Lift the brown top white sauce can, then place it next to the black metal kitchenpot",
+    "Use the right arm to grab the cylindrical can brown round top and move it next to the black kitchenpot with plastic lid handle",
+    "Grab the white sauce can brown top with the right arm and position it beside the black kitchenpot with round lid",
+    "Move the white sauce can brown top beside the black kitchenpot with round lid after lifting it",
+    "With the right arm, grab the metal can with plastic lid and move to the kitchenpot with metallic round lid",
+    "Use the right arm to take the hand-held sauce container to the cooking kitchenpot with sturdy handles",
+    "Lift the white sauce can brown top using the right arm and position it by the kitchenpot with metallic round lid",
+    "Lift the brown cap sauce storage can, place it by the black cooking pot with silver handles",
+    "Grab the cylindrical can brown round top, move it, and place by the medium kitchenpot with smooth surface",
+    "Use the right arm to grab the metal can with plastic lid and move it beside the black kitchenpot with silver and black handles",
+    "Use the right arm to lift the brown cap sauce storage can, then move it next to the cooking kitchenpot with sturdy handles",
+    "Use the right arm to move the white sauce can with label beside the black kitchenpot with flat lid",
+    "Pick the brown-lid sauce can up and move it next to the cooking kitchenpot with sturdy handles",
+    "Lift the brown cap sauce storage can using the right arm and drop it beside the black kitchenpot with plastic lid handle",
+    "Grab the hand-held sauce container with the right arm and set it near the black kitchenpot with round lid",
+    "Pick the hand-held sauce container up and carefully position it beside the kitchenpot with metallic round lid",
+    "Pick the cylindrical can brown round top and position it next to the black kitchenpot",
+    "Use the right arm to lift the white cylindrical sauce holder and place it near the black kitchenpot with flat lid",
+    "Pick up the white label brown lidded can with the right arm and set by the kitchenpot for boiling food",
+    "Pick the cylindrical can brown round top with the right arm and relocate it near the black metal kitchenpot",
+    "Move the smooth metal sauce can white from its spot to near the black kitchenpot with round lid",
+    "Lift the smooth metal sauce can white and set it next to the black kitchenpot with flat lid",
+    "Take the metal can with plastic lid with the right arm, place it near the cooking kitchenpot with sturdy handles",
+    "Take the white cylindrical sauce holder using the right arm, set it next to the black kitchenpot with silver and black handles",
+    "Lift the cylindrical can brown round top and move it near the black kitchenpot",
+    "Use the right arm to pick the white label brown lidded can up and set it beside the kitchenpot with metallic round lid",
+    "Take the white sauce can brown top to the black metal kitchenpot using the right arm",
+    "Take the cylindrical container for sauce with the right arm, bring it, and set next to the black kitchenpot with silver and black handles",
+    "Move the brown top white sauce can to be next to the black cooking pot with silver handles",
+    "Grab the cylindrical can brown round top, move it to the kitchenpot with metallic round lid's side",
+    "Pick the brown cap sauce storage can up with the right arm then place near the black kitchenpot with plastic lid handle",
+    "Set the white sauce can with label near the kitchenpot for boiling food after picking it up",
+    "Use the right arm to pick the white sauce can brown top, position it near the medium kitchenpot with smooth surface",
+    "Using the right arm, lift the metal can with plastic lid and place it by the black kitchenpot with flat lid",
+    "Pick up the white sauce can with label using the right arm, transfer it beside the kitchenpot with metallic round lid",
+    "Set the cylindrical can brown round top right next to the black cooking pot with silver handles",
+    "Place the brown top white sauce can next to the black kitchenpot",
+    "Move the cylindrical can brown round top to the cooking kitchenpot with sturdy handles with the right arm",
+    "Use the right arm to grab the brown cap sauce storage can and transfer it near the cooking kitchenpot with sturdy handles",
+    "Grab the hand-held sauce container, shift it, and place it close to the kitchenpot with metallic round lid",
+    "Place the white label brown lidded can beside the black kitchenpot with silver and black handles after picking it up",
+    "Pick up the white label brown lidded can and put it beside the black kitchenpot with flat lid",
+    "Bring the white label brown lidded can over and set it near the black cooking pot with silver handles",
+    "Grab the white cylindrical sauce holder and move it close to the black kitchenpot with round lid",
+    "Lift the brown-lid sauce can and place it next to the black metal kitchenpot",
+    "Lift the white sauce can brown top and set it next to the black kitchenpot",
+    "Lift the metal can with plastic lid and set it beside the black kitchenpot with silver and black handles",
+    "Use the right arm to lift the brown cap sauce storage can and place it next to the black kitchenpot",
+    "Grab the white sauce can with label with the right arm and move it close to the black kitchenpot"
+  ],
+  "unseen": [
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the round black kitchenpot",
+    "Pick up the sauce can and move it near the medium black kitchenpot with lid",
+    "Grab the sauce can and move it near the medium black kitchenpot with lid",
+    "Use the right arm to pick up the sauce can, move it near the medium black kitchenpot with lid",
+    "Pick up the medium-size cylindrical sauce can and set it beside the round black kitchenpot",
+    "Grab the medium sauce can with white label and place it beside the round black kitchenpot",
+    "Grab the medium sauce can with white label and place it near the shiny black kitchenpot",
+    "Lift the sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to grab the sauce can and place it by the medium black kitchenpot with lid",
+    "Grab the medium-size cylindrical sauce can and set it beside the round black kitchenpot",
+    "Use the right arm to pick up the sauce can and move it beside the shiny black kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and move it near the round black kitchenpot",
+    "Grab the medium sauce can with white label and move it near the medium black kitchenpot with lid",
+    "Use the right arm to pick up the medium sauce can with white label, move it near the shiny black kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and set it beside the round black kitchenpot",
+    "Grab the medium-size cylindrical sauce can and place it beside the round black kitchenpot",
+    "Grab the sauce can and place it near the round black kitchenpot",
+    "Lift the medium sauce can with white label and set it beside the round black kitchenpot",
+    "Use the right arm to grab the medium-size cylindrical sauce can and place it by the shiny black kitchenpot",
+    "Grab the medium-size cylindrical sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the round black kitchenpot",
+    "Pick up the medium sauce can with white label and move it near the round black kitchenpot",
+    "Grab the medium-size cylindrical sauce can and move it near the shiny black kitchenpot",
+    "Use the right arm to pick up the sauce can, move it near the medium black kitchenpot with lid",
+    "Pick up the sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the sauce can and place it beside the round black kitchenpot",
+    "Grab the medium-size cylindrical sauce can and place it near the round black kitchenpot",
+    "Lift the medium-size cylindrical sauce can and set it beside the shiny black kitchenpot",
+    "Use the right arm to grab the medium sauce can with white label and place it by the round black kitchenpot",
+    "Grab the sauce can and set it beside the round black kitchenpot",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the shiny black kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and move it near the medium black kitchenpot with lid",
+    "Grab the medium sauce can with white label and move it near the medium black kitchenpot with lid",
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the shiny black kitchenpot",
+    "Pick up the medium sauce can with white label and set it beside the medium black kitchenpot with lid",
+    "Grab the medium sauce can with white label and place it beside the round black kitchenpot",
+    "Grab the medium sauce can with white label and place it near the medium black kitchenpot with lid",
+    "Lift the medium-size cylindrical sauce can and set it beside the shiny black kitchenpot",
+    "Use the right arm to grab the medium-size cylindrical sauce can and place it by the round black kitchenpot",
+    "Grab the medium sauce can with white label and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the shiny black kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and move it near the round black kitchenpot",
+    "Grab the medium sauce can with white label and move it near the medium black kitchenpot with lid",
+    "Use the right arm to pick up the sauce can, move it near the medium black kitchenpot with lid",
+    "Pick up the sauce can and set it beside the round black kitchenpot",
+    "Grab the medium-size cylindrical sauce can and place it beside the round black kitchenpot",
+    "Grab the medium-size cylindrical sauce can and place it near the medium black kitchenpot with lid",
+    "Lift the medium-size cylindrical sauce can and set it beside the round black kitchenpot",
+    "Use the right arm to grab the sauce can and place it by the shiny black kitchenpot",
+    "Grab the medium sauce can with white label and set it beside the round black kitchenpot",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the round black kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and move it near the medium black kitchenpot with lid",
+    "Grab the sauce can and move it near the round black kitchenpot",
+    "Use the right arm to pick up the medium sauce can with white label, move it near the round black kitchenpot",
+    "Pick up the sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the medium sauce can with white label and place it beside the round black kitchenpot",
+    "Grab the medium sauce can with white label and place it near the round black kitchenpot",
+    "Lift the sauce can and set it beside the round black kitchenpot",
+    "Use the right arm to grab the medium sauce can with white label and place it by the shiny black kitchenpot",
+    "Grab the sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the medium-size cylindrical sauce can and move it beside the shiny black kitchenpot",
+    "Pick up the sauce can and move it near the round black kitchenpot",
+    "Grab the medium-size cylindrical sauce can and move it near the medium black kitchenpot with lid",
+    "Use the right arm to pick up the medium sauce can with white label, move it near the shiny black kitchenpot",
+    "Pick up the sauce can and set it beside the shiny black kitchenpot",
+    "Grab the medium-size cylindrical sauce can and place it beside the shiny black kitchenpot",
+    "Grab the medium-size cylindrical sauce can and place it near the medium black kitchenpot with lid",
+    "Lift the medium-size cylindrical sauce can and set it beside the round black kitchenpot",
+    "Use the right arm to grab the sauce can and place it by the medium black kitchenpot with lid",
+    "Grab the medium sauce can with white label and set it beside the shiny black kitchenpot",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the medium black kitchenpot with lid",
+    "Pick up the medium sauce can with white label and move it near the shiny black kitchenpot",
+    "Grab the medium sauce can with white label and move it near the round black kitchenpot",
+    "Use the right arm to pick up the medium-size cylindrical sauce can, move it near the shiny black kitchenpot",
+    "Pick up the sauce can and set it beside the shiny black kitchenpot",
+    "Grab the sauce can and place it beside the shiny black kitchenpot",
+    "Grab the medium sauce can with white label and place it near the shiny black kitchenpot",
+    "Lift the medium sauce can with white label and set it beside the shiny black kitchenpot",
+    "Use the right arm to grab the medium sauce can with white label and place it by the medium black kitchenpot with lid",
+    "Grab the medium sauce can with white label and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the sauce can and move it beside the round black kitchenpot",
+    "Pick up the medium sauce can with white label and move it near the round black kitchenpot",
+    "Grab the medium-size cylindrical sauce can and move it near the medium black kitchenpot with lid",
+    "Use the right arm to pick up the sauce can, move it near the shiny black kitchenpot",
+    "Pick up the medium sauce can with white label and set it beside the medium black kitchenpot with lid",
+    "Grab the medium sauce can with white label and place it beside the medium black kitchenpot with lid",
+    "Grab the medium sauce can with white label and place it near the medium black kitchenpot with lid",
+    "Lift the sauce can and set it beside the shiny black kitchenpot",
+    "Use the right arm to grab the sauce can and place it by the round black kitchenpot",
+    "Grab the medium-size cylindrical sauce can and set it beside the medium black kitchenpot with lid",
+    "Use the right arm to pick up the medium sauce can with white label and move it beside the medium black kitchenpot with lid",
+    "Pick up the medium-size cylindrical sauce can and move it near the medium black kitchenpot with lid",
+    "Grab the medium sauce can with white label and move it near the medium black kitchenpot with lid",
+    "Use the right arm to pick up the medium sauce can with white label, move it near the round black kitchenpot",
+    "Pick up the medium-size cylindrical sauce can and set it beside the medium black kitchenpot with lid",
+    "Grab the sauce can and place it beside the round black kitchenpot",
+    "Grab the medium sauce can with white label and place it near the medium black kitchenpot with lid",
+    "Lift the medium sauce can with white label and set it beside the shiny black kitchenpot",
+    "Use the right arm to grab the medium sauce can with white label and place it by the shiny black kitchenpot",
+    "Grab the medium-size cylindrical sauce can and set it beside the round black kitchenpot"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001114.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the brown and yellow cylindrical sauce can and move it near the teal pot for boiling and cooking",
+    "Move the sauce can with glossy finish to be next to the smooth teal kitchenpot for stovetop use",
+    "Pick up the sauce can with glossy finish using the left arm, transfer it beside the round teal cooking pot with matte texture",
+    "Use the left arm to pick the hand-sized sauce can up and set it beside the round teal cooking pot with matte texture",
+    "Place the plastic lid sauce can next to the teal pot for boiling and cooking",
+    "Grab the round sauce can with yellow pattern, shift it, and place it close to the cooking pot with two blue handles",
+    "Take the round sauce can with yellow pattern to the medium-sized teal blue cooking pot using the left arm",
+    "Use the left arm to grab the yellow brown sauce can and move it beside the round kitchenpot with two side grips",
+    "Lift the cylindrical sauce can using the left arm and position it by the teal pot for boiling and cooking",
+    "Use the left arm to pick the brown and yellow cylindrical sauce can, position it near the blue cylinder pot with smooth lid",
+    "Pick the hand-sized sauce can up with the left arm then place near the smooth teal kitchenpot for stovetop use",
+    "Grab the sauce can with sealed top, move it, and place by the blue kitchenpot with smooth matte sides",
+    "Bring the brown and yellow cylindrical sauce can over and set it near the round teal cooking pot with matte texture",
+    "Pick the yellow brown sauce can up and move it next to the cooking pot with two blue handles",
+    "Grab the yellow brown sauce can with the left arm and position it beside the medium teal-colored pot with flat lid",
+    "Use the left arm to grab the sauce can with glossy finish and move it next to the blue kitchenpot with smooth matte sides",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the blue kitchenpot with smooth matte sides",
+    "Use the left arm to lift the yellow brown sauce can and place it next to the medium teal-colored pot with flat lid",
+    "Take the yellow brown sauce can with the left arm, bring it, and set next to the round teal cooking pot with matte texture",
+    "Set the brown and yellow cylindrical sauce can near the blue cylinder pot with smooth lid after picking it up",
+    "Pick the sauce can up and carefully position it beside the smooth teal kitchenpot for stovetop use",
+    "Use the left arm to grab the plastic lid sauce can, move it beside the round teal cooking pot with matte texture",
+    "Move the sauce can to the medium-sized teal blue cooking pot with the left arm",
+    "Lift the medium sauce can with white lid and set it beside the kitchenpot with flat lid and knob",
+    "Pick the rounded-edge sauce can and position it next to the medium-sized teal blue cooking pot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the round kitchenpot with two side grips",
+    "Pick up the cylindrical sauce can with the left arm and set by the round kitchenpot with two side grips",
+    "Pick the brown and yellow cylindrical sauce can with the left arm and relocate it near the medium-sized teal blue cooking pot",
+    "Grab the sauce can with glossy finish, move it to the round kitchenpot with two side grips's side",
+    "Take the cylindrical sauce can using the left arm, set it next to the blue cylinder pot with smooth lid",
+    "Take the rounded-edge sauce can with the left arm, place it near the medium-sized teal blue cooking pot",
+    "Using the left arm, lift the sauce can with glossy finish and place it by the kitchenpot with flat lid and knob",
+    "Place the sauce can with sealed top beside the kitchenpot with flat lid and knob after picking it up",
+    "Lift the yellow brown sauce can and place it next to the cooking pot with two blue handles",
+    "Use the left arm to move the sauce can with glossy finish beside the round kitchenpot with two side grips",
+    "Grab the round sauce can with yellow pattern and move it close to the round kitchenpot with two side grips",
+    "Use the left arm to lift the sauce can with glossy finish and place it near the medium-sized teal blue cooking pot",
+    "Move the sauce can from its spot to near the round kitchenpot with two side grips",
+    "Lift the rounded-edge sauce can, then place it next to the cooking pot with two blue handles",
+    "Use the left arm to take the sauce can to the medium-sized teal blue cooking pot",
+    "Grab the plastic lid sauce can with the left arm and set it near the round kitchenpot with two side grips",
+    "Pick up the sauce can with glossy finish and put it beside the cooking pot with two blue handles",
+    "Use the left arm to grab the hand-sized sauce can and transfer it near the round teal cooking pot with matte texture",
+    "Lift the sauce can with glossy finish and set it next to the round kitchenpot with two side grips",
+    "Set the sauce can with sealed top right next to the round kitchenpot with two side grips",
+    "Lift the sauce can with sealed top, place it by the cooking pot with two blue handles",
+    "Move the medium sauce can with white lid beside the round teal cooking pot with matte texture after lifting it",
+    "Use the left arm to lift the sauce can with glossy finish, then move it next to the medium teal blue kitchenpot with handles",
+    "Grab the plastic lid sauce can with the left arm and move it close to the medium-sized teal blue cooking pot",
+    "Lift the sauce can with glossy finish and set it next to the kitchenpot with flat lid and knob",
+    "Lift the sauce can with glossy finish and move it near the smooth teal kitchenpot for stovetop use",
+    "Move the cylindrical sauce can to be next to the smooth teal kitchenpot for stovetop use",
+    "Pick up the brown and yellow cylindrical sauce can using the left arm, transfer it beside the teal pot for boiling and cooking",
+    "Use the left arm to pick the round sauce can with yellow pattern up and set it beside the round kitchenpot with two side grips",
+    "Place the brown and yellow cylindrical sauce can next to the teal pot for boiling and cooking",
+    "Grab the brown and yellow cylindrical sauce can, shift it, and place it close to the blue kitchenpot with smooth matte sides",
+    "Take the sauce can with sealed top to the teal pot for boiling and cooking using the left arm",
+    "Use the left arm to grab the rounded-edge sauce can and move it beside the kitchenpot with flat lid and knob",
+    "Lift the medium sauce can with white lid using the left arm and position it by the smooth teal kitchenpot for stovetop use",
+    "Use the left arm to pick the round sauce can with yellow pattern, position it near the smooth teal kitchenpot for stovetop use",
+    "Pick the sauce can with glossy finish up with the left arm then place near the round teal cooking pot with matte texture",
+    "Grab the sauce can with glossy finish, move it, and place by the smooth teal kitchenpot for stovetop use",
+    "Bring the cylindrical sauce can over and set it near the blue cylinder pot with smooth lid",
+    "Pick the round sauce can with yellow pattern up and move it next to the medium teal-colored pot with flat lid",
+    "Grab the yellow brown sauce can with the left arm and position it beside the smooth teal kitchenpot for stovetop use",
+    "Use the left arm to grab the sauce can with sealed top and move it next to the cooking pot with two blue handles",
+    "With the left arm, grab the round sauce can with yellow pattern and move to the kitchenpot with flat lid and knob",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the medium teal-colored pot with flat lid",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the blue kitchenpot with smooth matte sides",
+    "Set the rounded-edge sauce can near the blue cylinder pot with smooth lid after picking it up",
+    "Pick the cylindrical sauce can up and carefully position it beside the blue cylinder pot with smooth lid",
+    "Use the left arm to grab the medium sauce can with white lid, move it beside the kitchenpot with two sturdy blue handles",
+    "Move the plastic lid sauce can to the kitchenpot with two sturdy blue handles with the left arm",
+    "Lift the yellow brown sauce can and set it beside the round kitchenpot with two side grips",
+    "Pick the hand-sized sauce can and position it next to the medium teal-colored pot with flat lid",
+    "Lift the hand-sized sauce can using the left arm and drop it beside the smooth teal kitchenpot for stovetop use",
+    "Pick up the sauce can with glossy finish with the left arm and set by the round teal cooking pot with matte texture",
+    "Pick the sauce can with glossy finish with the left arm and relocate it near the round teal cooking pot with matte texture",
+    "Grab the hand-sized sauce can, move it to the round teal cooking pot with matte texture's side",
+    "Take the round sauce can with yellow pattern using the left arm, set it next to the kitchenpot with two sturdy blue handles",
+    "Take the sauce can with the left arm, place it near the cooking pot with two blue handles",
+    "Using the left arm, lift the sauce can with sealed top and place it by the cooking pot with two blue handles",
+    "Place the plastic lid sauce can beside the medium teal-colored pot with flat lid after picking it up",
+    "Lift the rounded-edge sauce can and place it next to the round kitchenpot with two side grips",
+    "Use the left arm to move the white plastic lid sauce can beside the round kitchenpot with two side grips",
+    "Grab the rounded-edge sauce can and move it close to the medium-sized teal blue cooking pot",
+    "Use the left arm to lift the sauce can and place it near the round kitchenpot with two side grips",
+    "Move the round sauce can with yellow pattern from its spot to near the kitchenpot with flat lid and knob",
+    "Lift the cylindrical sauce can, then place it next to the medium teal blue kitchenpot with handles",
+    "Use the left arm to take the cylindrical sauce can to the round teal cooking pot with matte texture",
+    "Grab the white plastic lid sauce can with the left arm and set it near the kitchenpot with two sturdy blue handles",
+    "Pick up the yellow brown sauce can and put it beside the medium teal-colored pot with flat lid",
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the round teal cooking pot with matte texture",
+    "Lift the round sauce can with yellow pattern and set it next to the medium teal-colored pot with flat lid",
+    "Set the medium sauce can with white lid right next to the medium teal-colored pot with flat lid",
+    "Lift the yellow brown sauce can, place it by the medium teal blue kitchenpot with handles",
+    "Move the sauce can beside the blue cylinder pot with smooth lid after lifting it",
+    "Use the left arm to lift the yellow brown sauce can, then move it next to the round teal cooking pot with matte texture",
+    "Grab the hand-sized sauce can with the left arm and move it close to the smooth teal kitchenpot for stovetop use",
+    "Lift the medium sauce can with white lid and set it next to the blue kitchenpot with smooth matte sides"
+  ],
+  "unseen": [
+    "Pick up the brown sauce can with top lid and set it beside the blue kitchenpot",
+    "Pick up the smooth sauce can and move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the blue pot with cylindrical body and lid",
+    "Grab the smooth sauce can and move it near the blue kitchenpot",
+    "Lift the smooth sauce can and set it beside the blue kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the blue kitchenpot",
+    "Use the left arm to grab the smooth sauce can and place it by the blue kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the teal blue cooking pot",
+    "Grab the smooth sauce can and place it beside the teal blue cooking pot",
+    "Grab the smooth sauce can and place it near the blue kitchenpot",
+    "Pick up the brown sauce can with top lid and set it beside the blue kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the blue kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the blue pot with cylindrical body and lid",
+    "Grab the yellow label on sauce can and move it near the blue kitchenpot",
+    "Lift the smooth sauce can and set it beside the blue kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the teal blue cooking pot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the blue pot with cylindrical body and lid",
+    "Grab the smooth sauce can and set it beside the teal blue cooking pot",
+    "Grab the yellow label on sauce can and place it beside the blue kitchenpot",
+    "Grab the yellow label on sauce can and place it near the blue pot with cylindrical body and lid",
+    "Pick up the yellow label on sauce can and set it beside the blue kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the blue kitchenpot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the blue kitchenpot",
+    "Grab the smooth sauce can and move it near the blue kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the blue kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to grab the smooth sauce can and place it by the blue pot with cylindrical body and lid",
+    "Grab the smooth sauce can and set it beside the blue kitchenpot",
+    "Grab the smooth sauce can and place it beside the teal blue cooking pot",
+    "Grab the yellow label on sauce can and place it near the blue pot with cylindrical body and lid",
+    "Pick up the smooth sauce can and set it beside the teal blue cooking pot",
+    "Pick up the brown sauce can with top lid and move it near the teal blue cooking pot",
+    "Use the left arm to pick up the smooth sauce can and move it beside the teal blue cooking pot",
+    "Grab the smooth sauce can and move it near the blue pot with cylindrical body and lid",
+    "Lift the yellow label on sauce can and set it beside the teal blue cooking pot",
+    "Use the left arm to pick up the smooth sauce can, move it near the teal blue cooking pot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the blue kitchenpot",
+    "Grab the smooth sauce can and set it beside the teal blue cooking pot",
+    "Grab the yellow label on sauce can and place it beside the blue pot with cylindrical body and lid",
+    "Grab the yellow label on sauce can and place it near the blue kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the blue kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the blue kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the blue pot with cylindrical body and lid",
+    "Grab the smooth sauce can and move it near the blue pot with cylindrical body and lid",
+    "Lift the yellow label on sauce can and set it beside the blue kitchenpot",
+    "Use the left arm to pick up the smooth sauce can, move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to grab the yellow label on sauce can and place it by the teal blue cooking pot",
+    "Grab the brown sauce can with top lid and set it beside the blue kitchenpot",
+    "Grab the smooth sauce can and place it beside the teal blue cooking pot",
+    "Grab the smooth sauce can and place it near the blue kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the teal blue cooking pot",
+    "Pick up the smooth sauce can and move it near the blue kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the teal blue cooking pot",
+    "Grab the smooth sauce can and move it near the teal blue cooking pot",
+    "Lift the yellow label on sauce can and set it beside the teal blue cooking pot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the blue kitchenpot",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the blue pot with cylindrical body and lid",
+    "Grab the brown sauce can with top lid and set it beside the blue kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the blue kitchenpot",
+    "Grab the smooth sauce can and place it near the blue kitchenpot",
+    "Pick up the yellow label on sauce can and set it beside the blue kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the teal blue cooking pot",
+    "Grab the smooth sauce can and move it near the teal blue cooking pot",
+    "Lift the smooth sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to grab the yellow label on sauce can and place it by the blue kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the blue pot with cylindrical body and lid",
+    "Grab the smooth sauce can and place it beside the blue kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the blue kitchenpot",
+    "Pick up the smooth sauce can and set it beside the blue kitchenpot",
+    "Pick up the smooth sauce can and move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to pick up the smooth sauce can and move it beside the blue pot with cylindrical body and lid",
+    "Grab the smooth sauce can and move it near the blue pot with cylindrical body and lid",
+    "Lift the brown sauce can with top lid and set it beside the blue kitchenpot",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to grab the yellow label on sauce can and place it by the teal blue cooking pot",
+    "Grab the yellow label on sauce can and set it beside the blue kitchenpot",
+    "Grab the brown sauce can with top lid and place it beside the teal blue cooking pot",
+    "Grab the smooth sauce can and place it near the teal blue cooking pot",
+    "Pick up the yellow label on sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Pick up the yellow label on sauce can and move it near the blue kitchenpot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the blue pot with cylindrical body and lid",
+    "Grab the smooth sauce can and move it near the blue kitchenpot",
+    "Lift the smooth sauce can and set it beside the teal blue cooking pot",
+    "Use the left arm to pick up the smooth sauce can, move it near the blue pot with cylindrical body and lid",
+    "Use the left arm to grab the smooth sauce can and place it by the teal blue cooking pot",
+    "Grab the smooth sauce can and set it beside the teal blue cooking pot",
+    "Grab the smooth sauce can and place it beside the blue kitchenpot",
+    "Grab the yellow label on sauce can and place it near the teal blue cooking pot",
+    "Pick up the smooth sauce can and set it beside the teal blue cooking pot",
+    "Pick up the brown sauce can with top lid and move it near the teal blue cooking pot",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the teal blue cooking pot",
+    "Grab the yellow label on sauce can and move it near the blue pot with cylindrical body and lid",
+    "Lift the yellow label on sauce can and set it beside the teal blue cooking pot",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the teal blue cooking pot",
+    "Use the left arm to grab the smooth sauce can and place it by the teal blue cooking pot",
+    "Grab the brown sauce can with top lid and set it beside the teal blue cooking pot",
+    "Grab the yellow label on sauce can and place it beside the blue pot with cylindrical body and lid",
+    "Grab the smooth sauce can and place it near the blue kitchenpot"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001115.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the metal sauce can to be next to the silver pot with black grips",
+    "Grab the medium sauce can with the right arm and set it near the kitchenpot with smooth metallic lid",
+    "Grab the sauce can with brown lid with the right arm and move it close to the medium-sized pot with plastic grips",
+    "Pick the brown sauce can up with the right arm then place near the medium silver pot for cooking",
+    "Move the sauce can for condiments beside the cooking pot with snug-fitting lid after lifting it",
+    "Lift the smooth cylindrical sauce can using the right arm and drop it beside the cooking pot with snug-fitting lid",
+    "Grab the printed label sauce can and move it close to the rounded silver pot with handles",
+    "Use the right arm to lift the cylindrical sauce can, then move it next to the metallic pot with matte finish",
+    "Grab the brown sauce can with the right arm and position it beside the rounded pot with curved handles",
+    "Place the sauce can for condiments beside the silver kitchenpot with black grips after picking it up",
+    "Grab the sauce can for condiments, move it to the cooking pot with snug-fitting lid's side",
+    "Lift the medium sauce can and set it next to the silver kitchenpot with black grips",
+    "Pick up the sauce can with brown lid with the right arm and set by the rounded pot with curved handles",
+    "Take the metal sauce can to the kitchenpot with smooth metallic lid using the right arm",
+    "Use the right arm to grab the sauce can for condiments and move it beside the silver kitchenpot",
+    "Use the right arm to grab the sauce can with brown lid, move it beside the cooking pot with snug-fitting lid",
+    "With the right arm, grab the yellow label sauce can and move to the rounded silver pot with handles",
+    "Take the printed label sauce can with the right arm, bring it, and set next to the rounded pot with curved handles",
+    "Place the brown top sauce can next to the silver kitchenpot with black grips",
+    "Lift the printed label sauce can and set it next to the medium silver pot for cooking",
+    "Use the right arm to pick the yellow label sauce can, position it near the cooking pot with snug-fitting lid",
+    "Use the right arm to take the printed label sauce can to the medium-sized pot with plastic grips",
+    "Take the printed label sauce can using the right arm, set it next to the silver pot with matching lid",
+    "Pick up the cylindrical sauce can using the right arm, transfer it beside the metallic pot with plastic handles",
+    "Lift the sauce can with ingredient information and set it beside the metallic pot with plastic handles",
+    "Pick the printed label sauce can up and carefully position it beside the silver pot with black grips",
+    "Grab the brown top sauce can, move it, and place by the metallic pot with matte finish",
+    "Take the sauce can with ingredient information with the right arm, place it near the silver pot with matching lid",
+    "Lift the yellow label sauce can, then place it next to the silver pot with matching lid",
+    "Using the right arm, lift the medium sauce can and place it by the metallic pot with matte finish",
+    "Use the right arm to lift the metal sauce can and place it near the metallic pot with matte finish",
+    "Move the sauce can with brown lid to the metallic pot with plastic handles with the right arm",
+    "Pick up the sauce can with ingredient information and put it beside the metallic pot with plastic handles",
+    "Move the yellow label sauce can from its spot to near the metallic pot with matte finish",
+    "Use the right arm to grab the sauce can for condiments and move it next to the medium-sized pot with plastic grips",
+    "Use the right arm to grab the sauce can with brown lid and transfer it near the silver pot with matching lid",
+    "Pick the metal sauce can and position it next to the silver kitchenpot",
+    "Lift the smooth cylindrical sauce can, place it by the silver kitchenpot with black grips",
+    "Use the right arm to lift the printed label sauce can and place it next to the silver pot with matching lid",
+    "Set the sauce can for condiments near the silver pot with matching lid after picking it up",
+    "Bring the metal sauce can over and set it near the silver pot with black grips",
+    "Pick the brown top sauce can with the right arm and relocate it near the metallic pot with plastic handles",
+    "Grab the metal sauce can, shift it, and place it close to the rounded silver pot with handles",
+    "Lift the cylindrical sauce can using the right arm and position it by the kitchenpot with smooth metallic lid",
+    "Lift the sauce can for condiments and move it near the medium-sized pot with plastic grips",
+    "Lift the yellow and brown sauce can and place it next to the rounded pot with curved handles",
+    "Use the right arm to move the brown sauce can beside the kitchenpot with smooth metallic lid",
+    "Use the right arm to pick the sauce can for condiments up and set it beside the cooking pot with snug-fitting lid",
+    "Set the sauce can with ingredient information right next to the metallic pot with matte finish",
+    "Pick the cylindrical sauce can up and move it next to the cooking pot with snug-fitting lid",
+    "Move the metal sauce can to be next to the silver kitchenpot",
+    "Grab the metal sauce can with the right arm and set it near the rounded pot with curved handles",
+    "Grab the yellow and brown sauce can with the right arm and move it close to the silver kitchenpot",
+    "Pick the yellow and brown sauce can up with the right arm then place near the rounded silver pot with handles",
+    "Move the yellow and brown sauce can beside the cooking pot with snug-fitting lid after lifting it",
+    "Lift the yellow label sauce can using the right arm and drop it beside the cooking pot with snug-fitting lid",
+    "Grab the smooth cylindrical sauce can and move it close to the medium silver pot for cooking",
+    "Use the right arm to lift the metal sauce can, then move it next to the metallic pot with plastic handles",
+    "Grab the yellow label sauce can with the right arm and position it beside the rounded silver pot with handles",
+    "Place the brown sauce can beside the metallic pot with plastic handles after picking it up",
+    "Grab the medium sauce can, move it to the kitchenpot with smooth metallic lid's side",
+    "Lift the sauce can with ingredient information and set it next to the metallic pot with matte finish",
+    "Pick up the sauce can for condiments with the right arm and set by the silver kitchenpot",
+    "Take the cylindrical sauce can to the silver kitchenpot using the right arm",
+    "Use the right arm to grab the brown sauce can and move it beside the silver kitchenpot with black grips",
+    "Use the right arm to grab the cylindrical sauce can, move it beside the cooking pot with snug-fitting lid",
+    "With the right arm, grab the yellow label sauce can and move to the silver kitchenpot with black grips",
+    "Take the sauce can with ingredient information with the right arm, bring it, and set next to the medium-sized pot with plastic grips",
+    "Place the yellow and brown sauce can next to the silver kitchenpot",
+    "Lift the smooth cylindrical sauce can and set it next to the cooking pot with snug-fitting lid",
+    "Use the right arm to pick the sauce can with brown lid, position it near the silver pot with matching lid",
+    "Use the right arm to take the brown sauce can to the metallic pot with matte finish",
+    "Take the brown sauce can using the right arm, set it next to the metallic pot with plastic handles",
+    "Pick up the sauce can with ingredient information using the right arm, transfer it beside the metallic pot with matte finish",
+    "Lift the brown sauce can and set it beside the silver pot with matching lid",
+    "Pick the cylindrical sauce can up and carefully position it beside the silver pot with matching lid",
+    "Grab the yellow label sauce can, move it, and place by the silver kitchenpot",
+    "Take the brown sauce can with the right arm, place it near the metallic pot with plastic handles",
+    "Lift the cylindrical sauce can, then place it next to the silver kitchenpot with black grips",
+    "Using the right arm, lift the yellow label sauce can and place it by the medium-sized pot with plastic grips",
+    "Use the right arm to lift the sauce can for condiments and place it near the silver pot with black grips",
+    "Move the yellow and brown sauce can to the medium silver pot for cooking with the right arm",
+    "Pick up the brown top sauce can and put it beside the metallic pot with plastic handles",
+    "Move the yellow label sauce can from its spot to near the metallic pot with matte finish",
+    "Use the right arm to grab the brown top sauce can and move it next to the rounded silver pot with handles",
+    "Use the right arm to grab the sauce can for condiments and transfer it near the rounded silver pot with handles",
+    "Pick the brown sauce can and position it next to the rounded silver pot with handles",
+    "Lift the yellow label sauce can, place it by the metallic pot with matte finish",
+    "Use the right arm to lift the brown top sauce can and place it next to the silver kitchenpot with black grips",
+    "Set the brown top sauce can near the silver kitchenpot with black grips after picking it up",
+    "Bring the sauce can with ingredient information over and set it near the medium silver pot for cooking",
+    "Pick the sauce can with brown lid with the right arm and relocate it near the silver kitchenpot",
+    "Grab the metal sauce can, shift it, and place it close to the metallic pot with matte finish",
+    "Lift the smooth cylindrical sauce can using the right arm and position it by the cooking pot with snug-fitting lid",
+    "Lift the sauce can with ingredient information and move it near the silver pot with matching lid",
+    "Lift the yellow and brown sauce can and place it next to the kitchenpot with smooth metallic lid",
+    "Use the right arm to move the yellow and brown sauce can beside the rounded pot with curved handles",
+    "Use the right arm to pick the printed label sauce can up and set it beside the rounded pot with curved handles",
+    "Set the sauce can with ingredient information right next to the silver kitchenpot",
+    "Pick the smooth cylindrical sauce can up and move it next to the silver kitchenpot with black grips"
+  ],
+  "unseen": [
+    "Use the right arm to grab the hand-sized sauce can and place it by the kitchenpot for stovetop boiling",
+    "Grab the sauce can with smooth surface and place it beside the rounded cooking pot with two handles",
+    "Pick up the hand-sized sauce can and move it near the kitchenpot for stovetop boiling",
+    "Grab the metal body sauce can and place it near the rounded cooking pot with two handles",
+    "Pick up the sauce can with smooth surface and set it beside the medium kitchenpot with black handles",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the rounded cooking pot with two handles",
+    "Grab the metal body sauce can and set it beside the medium kitchenpot with black handles",
+    "Lift the sauce can with smooth surface and set it beside the kitchenpot for stovetop boiling",
+    "Grab the hand-sized sauce can and move it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the medium kitchenpot with black handles",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and place it beside the rounded cooking pot with two handles",
+    "Pick up the sauce can with smooth surface and move it near the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and place it near the kitchenpot for stovetop boiling",
+    "Pick up the sauce can with smooth surface and set it beside the medium kitchenpot with black handles",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the medium kitchenpot with black handles",
+    "Grab the hand-sized sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Lift the hand-sized sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Grab the hand-sized sauce can and move it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the metal body sauce can, move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the hand-sized sauce can and place it by the medium kitchenpot with black handles",
+    "Grab the sauce can with smooth surface and place it beside the kitchenpot for stovetop boiling",
+    "Pick up the hand-sized sauce can and move it near the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and place it near the rounded cooking pot with two handles",
+    "Pick up the metal body sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the medium kitchenpot with black handles",
+    "Grab the metal body sauce can and set it beside the rounded cooking pot with two handles",
+    "Lift the sauce can with smooth surface and set it beside the medium kitchenpot with black handles",
+    "Grab the sauce can with smooth surface and move it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the metal body sauce can and place it by the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and place it beside the kitchenpot for stovetop boiling",
+    "Pick up the hand-sized sauce can and move it near the kitchenpot for stovetop boiling",
+    "Grab the sauce can with smooth surface and place it near the medium kitchenpot with black handles",
+    "Pick up the sauce can with smooth surface and set it beside the medium kitchenpot with black handles",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the kitchenpot for stovetop boiling",
+    "Grab the hand-sized sauce can and set it beside the medium kitchenpot with black handles",
+    "Lift the sauce can with smooth surface and set it beside the kitchenpot for stovetop boiling",
+    "Grab the hand-sized sauce can and move it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the rounded cooking pot with two handles",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the medium kitchenpot with black handles",
+    "Grab the hand-sized sauce can and place it beside the kitchenpot for stovetop boiling",
+    "Pick up the metal body sauce can and move it near the rounded cooking pot with two handles",
+    "Grab the metal body sauce can and place it near the kitchenpot for stovetop boiling",
+    "Pick up the sauce can with smooth surface and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the rounded cooking pot with two handles",
+    "Grab the hand-sized sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Lift the metal body sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Grab the metal body sauce can and move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the rounded cooking pot with two handles",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the kitchenpot for stovetop boiling",
+    "Grab the sauce can with smooth surface and place it beside the medium kitchenpot with black handles",
+    "Pick up the hand-sized sauce can and move it near the medium kitchenpot with black handles",
+    "Grab the sauce can with smooth surface and place it near the rounded cooking pot with two handles",
+    "Pick up the metal body sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the metal body sauce can and move it beside the rounded cooking pot with two handles",
+    "Grab the hand-sized sauce can and set it beside the rounded cooking pot with two handles",
+    "Lift the hand-sized sauce can and set it beside the medium kitchenpot with black handles",
+    "Grab the metal body sauce can and move it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the metal body sauce can, move it near the medium kitchenpot with black handles",
+    "Use the right arm to grab the metal body sauce can and place it by the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and place it beside the medium kitchenpot with black handles",
+    "Pick up the hand-sized sauce can and move it near the kitchenpot for stovetop boiling",
+    "Grab the hand-sized sauce can and place it near the kitchenpot for stovetop boiling",
+    "Pick up the sauce can with smooth surface and set it beside the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the kitchenpot for stovetop boiling",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot for stovetop boiling",
+    "Lift the sauce can with smooth surface and set it beside the rounded cooking pot with two handles",
+    "Grab the metal body sauce can and move it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the rounded cooking pot with two handles",
+    "Use the right arm to grab the metal body sauce can and place it by the kitchenpot for stovetop boiling",
+    "Grab the hand-sized sauce can and place it beside the medium kitchenpot with black handles",
+    "Pick up the hand-sized sauce can and move it near the medium kitchenpot with black handles",
+    "Grab the hand-sized sauce can and place it near the kitchenpot for stovetop boiling",
+    "Pick up the metal body sauce can and set it beside the rounded cooking pot with two handles",
+    "Use the right arm to pick up the metal body sauce can and move it beside the rounded cooking pot with two handles",
+    "Grab the metal body sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Lift the sauce can with smooth surface and set it beside the kitchenpot for stovetop boiling",
+    "Grab the metal body sauce can and move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to pick up the metal body sauce can, move it near the rounded cooking pot with two handles",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the rounded cooking pot with two handles",
+    "Grab the metal body sauce can and place it beside the kitchenpot for stovetop boiling",
+    "Pick up the sauce can with smooth surface and move it near the kitchenpot for stovetop boiling",
+    "Grab the hand-sized sauce can and place it near the medium kitchenpot with black handles",
+    "Pick up the hand-sized sauce can and set it beside the medium kitchenpot with black handles",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the rounded cooking pot with two handles",
+    "Grab the metal body sauce can and set it beside the rounded cooking pot with two handles",
+    "Lift the metal body sauce can and set it beside the medium kitchenpot with black handles",
+    "Grab the hand-sized sauce can and move it near the medium kitchenpot with black handles",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the kitchenpot for stovetop boiling",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the rounded cooking pot with two handles",
+    "Grab the sauce can with smooth surface and place it beside the rounded cooking pot with two handles",
+    "Pick up the hand-sized sauce can and move it near the medium kitchenpot with black handles",
+    "Grab the metal body sauce can and place it near the medium kitchenpot with black handles",
+    "Pick up the hand-sized sauce can and set it beside the medium kitchenpot with black handles",
+    "Use the right arm to pick up the metal body sauce can and move it beside the kitchenpot for stovetop boiling",
+    "Grab the sauce can with smooth surface and set it beside the medium kitchenpot with black handles",
+    "Lift the metal body sauce can and set it beside the kitchenpot for stovetop boiling",
+    "Grab the sauce can with smooth surface and move it near the rounded cooking pot with two handles",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the rounded cooking pot with two handles"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001117.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to pick the sauce can for condiments, position it near the cooking pot with two handles",
+    "Place the smooth cylindrical sauce can beside the round blue-lid kitchenpot for stovetop after picking it up",
+    "Pick the yellow label sauce can and position it next to the gray kitchenpot",
+    "Lift the sauce can with brown lid using the right arm and drop it beside the pots for boiling and cooking",
+    "Lift the yellow label sauce can using the right arm and position it by the round blue-lid kitchenpot for stovetop",
+    "Use the right arm to pick the brown sauce can up and set it beside the kitchenpot with plastic knob on lid",
+    "Grab the sauce can for condiments, move it, and place by the metal kitchenpot with brown handles",
+    "Lift the yellow and brown sauce can and set it beside the metal pot with dark handles",
+    "Pick the smooth cylindrical sauce can up and move it next to the gray pot with blue circular lid",
+    "Pick the brown sauce can up and carefully position it beside the pots for boiling and cooking",
+    "Use the right arm to move the sauce can for condiments beside the gray cylindrical pot",
+    "Move the cylindrical sauce can to the kitchenpot with plastic knob on lid with the right arm",
+    "Take the yellow label sauce can with the right arm, place it near the gray pot with blue circular lid",
+    "Set the sauce can with brown lid right next to the kitchenpot with plastic knob on lid",
+    "Set the brown sauce can near the matte gray pot with durable lid after picking it up",
+    "Move the brown top sauce can from its spot to near the pots for boiling and cooking",
+    "Use the right arm to grab the printed label sauce can and move it beside the kitchenpot with plastic knob on lid",
+    "Lift the yellow label sauce can and move it near the metal pot with dark handles",
+    "Grab the sauce can with ingredient information, shift it, and place it close to the round blue-lid kitchenpot for stovetop",
+    "Use the right arm to grab the yellow and brown sauce can, move it beside the round blue-lid kitchenpot for stovetop",
+    "Use the right arm to lift the yellow label sauce can and place it near the blue kitchenpot lid with black knob",
+    "Use the right arm to grab the printed label sauce can and transfer it near the round blue-lid kitchenpot for stovetop",
+    "Move the sauce can with ingredient information to be next to the blue-lid kitchenpot",
+    "Lift the yellow and brown sauce can and set it next to the matte gray pot with durable lid",
+    "Take the sauce can for condiments using the right arm, set it next to the gray cylindrical pot",
+    "Pick up the sauce can with ingredient information using the right arm, transfer it beside the pots for boiling and cooking",
+    "With the right arm, grab the smooth cylindrical sauce can and move to the blue-lid kitchenpot",
+    "Grab the printed label sauce can with the right arm and position it beside the kitchenpot with plastic knob on lid",
+    "Lift the sauce can with brown lid and set it next to the cooking pot with two handles",
+    "Pick up the brown top sauce can and put it beside the pots for boiling and cooking",
+    "Pick the smooth cylindrical sauce can up with the right arm then place near the pots for boiling and cooking",
+    "Bring the medium sauce can over and set it near the gray kitchenpot",
+    "Move the sauce can for condiments beside the blue kitchenpot lid with black knob after lifting it",
+    "Use the right arm to lift the cylindrical sauce can and place it next to the metal pot with dark handles",
+    "Lift the yellow label sauce can and place it next to the pots for boiling and cooking",
+    "Take the printed label sauce can to the cooking pot with two handles using the right arm",
+    "Pick up the medium sauce can with the right arm and set by the metal pot with dark handles",
+    "Grab the sauce can with brown lid and move it close to the blue-lid kitchenpot",
+    "Use the right arm to take the brown top sauce can to the blue kitchenpot lid with black knob",
+    "Grab the yellow and brown sauce can with the right arm and move it close to the gray kitchenpot",
+    "Pick the yellow label sauce can with the right arm and relocate it near the cooking pot with two handles",
+    "Take the metal sauce can with the right arm, bring it, and set next to the round blue-lid kitchenpot for stovetop",
+    "Grab the cylindrical sauce can, move it to the blue kitchenpot lid with black knob's side",
+    "Use the right arm to grab the medium sauce can and move it next to the metal kitchenpot with brown handles",
+    "Grab the brown top sauce can with the right arm and set it near the blue-lid kitchenpot",
+    "Lift the yellow label sauce can, then place it next to the gray pot with blue circular lid",
+    "Use the right arm to lift the brown sauce can, then move it next to the metal pot with dark handles",
+    "Using the right arm, lift the cylindrical sauce can and place it by the blue kitchenpot lid with black knob",
+    "Place the brown sauce can next to the metal kitchenpot with brown handles",
+    "Lift the brown sauce can, place it by the pots for boiling and cooking",
+    "Use the right arm to pick the brown top sauce can, position it near the metal kitchenpot with brown handles",
+    "Place the yellow and brown sauce can beside the pots for boiling and cooking after picking it up",
+    "Pick the metal sauce can and position it next to the gray cylindrical pot",
+    "Lift the yellow and brown sauce can using the right arm and drop it beside the cooking pot with two handles",
+    "Lift the cylindrical sauce can using the right arm and position it by the gray pot with blue circular lid",
+    "Use the right arm to pick the printed label sauce can up and set it beside the cooking pot with two handles",
+    "Grab the sauce can for condiments, move it, and place by the gray pot with blue circular lid",
+    "Lift the yellow label sauce can and set it beside the blue kitchenpot lid with black knob",
+    "Pick the cylindrical sauce can up and move it next to the round blue-lid kitchenpot for stovetop",
+    "Pick the cylindrical sauce can up and carefully position it beside the matte gray pot with durable lid",
+    "Use the right arm to move the printed label sauce can beside the metal kitchenpot with brown handles",
+    "Move the smooth cylindrical sauce can to the gray cylindrical pot with the right arm",
+    "Take the sauce can with ingredient information with the right arm, place it near the gray kitchenpot",
+    "Set the sauce can for condiments right next to the gray pot with blue circular lid",
+    "Set the yellow and brown sauce can near the gray pot with blue circular lid after picking it up",
+    "Move the cylindrical sauce can from its spot to near the metal pot with dark handles",
+    "Use the right arm to grab the brown sauce can and move it beside the metal pot with dark handles",
+    "Lift the yellow and brown sauce can and move it near the gray cylindrical pot",
+    "Grab the cylindrical sauce can, shift it, and place it close to the matte gray pot with durable lid",
+    "Use the right arm to grab the sauce can with brown lid, move it beside the gray cylindrical pot",
+    "Use the right arm to lift the sauce can with brown lid and place it near the metal kitchenpot with brown handles",
+    "Use the right arm to grab the cylindrical sauce can and transfer it near the blue-lid kitchenpot",
+    "Move the metal sauce can to be next to the gray cylindrical pot",
+    "Lift the brown top sauce can and set it next to the gray pot with blue circular lid",
+    "Take the metal sauce can using the right arm, set it next to the round blue-lid kitchenpot for stovetop",
+    "Pick up the sauce can with brown lid using the right arm, transfer it beside the gray cylindrical pot",
+    "With the right arm, grab the yellow and brown sauce can and move to the blue-lid kitchenpot",
+    "Grab the yellow and brown sauce can with the right arm and position it beside the pots for boiling and cooking",
+    "Lift the metal sauce can and set it next to the blue-lid kitchenpot",
+    "Pick up the yellow and brown sauce can and put it beside the matte gray pot with durable lid",
+    "Pick the yellow and brown sauce can up with the right arm then place near the round blue-lid kitchenpot for stovetop",
+    "Bring the yellow label sauce can over and set it near the cooking pot with two handles",
+    "Move the cylindrical sauce can beside the blue-lid kitchenpot after lifting it",
+    "Use the right arm to lift the brown top sauce can and place it next to the matte gray pot with durable lid",
+    "Lift the sauce can for condiments and place it next to the blue kitchenpot lid with black knob",
+    "Take the metal sauce can to the blue kitchenpot lid with black knob using the right arm",
+    "Pick up the cylindrical sauce can with the right arm and set by the blue-lid kitchenpot",
+    "Grab the sauce can with brown lid and move it close to the blue-lid kitchenpot",
+    "Use the right arm to take the medium sauce can to the kitchenpot with plastic knob on lid",
+    "Grab the yellow label sauce can with the right arm and move it close to the kitchenpot with plastic knob on lid",
+    "Pick the brown top sauce can with the right arm and relocate it near the pots for boiling and cooking",
+    "Take the metal sauce can with the right arm, bring it, and set next to the pots for boiling and cooking",
+    "Grab the yellow and brown sauce can, move it to the metal kitchenpot with brown handles's side",
+    "Use the right arm to grab the sauce can with ingredient information and move it next to the blue-lid kitchenpot",
+    "Grab the medium sauce can with the right arm and set it near the cooking pot with two handles",
+    "Lift the cylindrical sauce can, then place it next to the cooking pot with two handles",
+    "Use the right arm to lift the cylindrical sauce can, then move it next to the blue kitchenpot lid with black knob",
+    "Using the right arm, lift the medium sauce can and place it by the gray kitchenpot",
+    "Place the sauce can with ingredient information next to the gray pot with blue circular lid",
+    "Lift the medium sauce can, place it by the blue-lid kitchenpot"
+  ],
+  "unseen": [
+    "Grab the metal body sauce can and place it near the medium stove pot",
+    "Grab the sauce can with smooth surface and place it beside the medium stove pot",
+    "Grab the sauce can with smooth surface and move it near the round pot with blue top",
+    "Use the right arm to grab the hand-sized sauce can and place it by the kitchenpot with smooth matte body",
+    "Pick up the sauce can with smooth surface and move it near the kitchenpot with smooth matte body",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the kitchenpot with smooth matte body",
+    "Pick up the sauce can with smooth surface and set it beside the round pot with blue top",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the medium stove pot",
+    "Grab the hand-sized sauce can and set it beside the medium stove pot",
+    "Lift the metal body sauce can and set it beside the round pot with blue top",
+    "Grab the sauce can with smooth surface and place it near the round pot with blue top",
+    "Grab the hand-sized sauce can and place it beside the medium stove pot",
+    "Grab the sauce can with smooth surface and move it near the kitchenpot with smooth matte body",
+    "Use the right arm to grab the hand-sized sauce can and place it by the kitchenpot with smooth matte body",
+    "Pick up the hand-sized sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the right arm to pick up the metal body sauce can and move it beside the round pot with blue top",
+    "Pick up the sauce can with smooth surface and set it beside the medium stove pot",
+    "Use the right arm to pick up the metal body sauce can, move it near the kitchenpot with smooth matte body",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot with smooth matte body",
+    "Lift the hand-sized sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can with smooth surface and place it near the round pot with blue top",
+    "Grab the sauce can with smooth surface and place it beside the medium stove pot",
+    "Grab the hand-sized sauce can and move it near the round pot with blue top",
+    "Use the right arm to grab the hand-sized sauce can and place it by the medium stove pot",
+    "Pick up the sauce can with smooth surface and move it near the round pot with blue top",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the round pot with blue top",
+    "Pick up the sauce can with smooth surface and set it beside the round pot with blue top",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the round pot with blue top",
+    "Grab the sauce can with smooth surface and set it beside the round pot with blue top",
+    "Lift the metal body sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can with smooth surface and place it near the kitchenpot with smooth matte body",
+    "Grab the hand-sized sauce can and place it beside the round pot with blue top",
+    "Grab the metal body sauce can and move it near the round pot with blue top",
+    "Use the right arm to grab the hand-sized sauce can and place it by the kitchenpot with smooth matte body",
+    "Pick up the hand-sized sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the round pot with blue top",
+    "Pick up the sauce can with smooth surface and set it beside the medium stove pot",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the round pot with blue top",
+    "Grab the metal body sauce can and set it beside the round pot with blue top",
+    "Lift the sauce can with smooth surface and set it beside the round pot with blue top",
+    "Grab the hand-sized sauce can and place it near the kitchenpot with smooth matte body",
+    "Grab the metal body sauce can and place it beside the medium stove pot",
+    "Grab the metal body sauce can and move it near the round pot with blue top",
+    "Use the right arm to grab the hand-sized sauce can and place it by the round pot with blue top",
+    "Pick up the metal body sauce can and move it near the round pot with blue top",
+    "Use the right arm to pick up the metal body sauce can and move it beside the medium stove pot",
+    "Pick up the sauce can with smooth surface and set it beside the round pot with blue top",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the round pot with blue top",
+    "Grab the metal body sauce can and set it beside the round pot with blue top",
+    "Lift the metal body sauce can and set it beside the medium stove pot",
+    "Grab the metal body sauce can and place it near the kitchenpot with smooth matte body",
+    "Grab the hand-sized sauce can and place it beside the medium stove pot",
+    "Grab the sauce can with smooth surface and move it near the medium stove pot",
+    "Use the right arm to grab the hand-sized sauce can and place it by the kitchenpot with smooth matte body",
+    "Pick up the hand-sized sauce can and move it near the medium stove pot",
+    "Use the right arm to pick up the hand-sized sauce can and move it beside the kitchenpot with smooth matte body",
+    "Pick up the hand-sized sauce can and set it beside the round pot with blue top",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the medium stove pot",
+    "Grab the hand-sized sauce can and set it beside the kitchenpot with smooth matte body",
+    "Lift the hand-sized sauce can and set it beside the medium stove pot",
+    "Grab the metal body sauce can and place it near the medium stove pot",
+    "Grab the metal body sauce can and place it beside the round pot with blue top",
+    "Grab the sauce can with smooth surface and move it near the kitchenpot with smooth matte body",
+    "Use the right arm to grab the metal body sauce can and place it by the kitchenpot with smooth matte body",
+    "Pick up the sauce can with smooth surface and move it near the kitchenpot with smooth matte body",
+    "Use the right arm to pick up the metal body sauce can and move it beside the round pot with blue top",
+    "Pick up the sauce can with smooth surface and set it beside the medium stove pot",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the kitchenpot with smooth matte body",
+    "Grab the hand-sized sauce can and set it beside the kitchenpot with smooth matte body",
+    "Lift the hand-sized sauce can and set it beside the medium stove pot",
+    "Grab the metal body sauce can and place it near the medium stove pot",
+    "Grab the metal body sauce can and place it beside the kitchenpot with smooth matte body",
+    "Grab the hand-sized sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the right arm to grab the hand-sized sauce can and place it by the round pot with blue top",
+    "Pick up the metal body sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the kitchenpot with smooth matte body",
+    "Pick up the sauce can with smooth surface and set it beside the round pot with blue top",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the medium stove pot",
+    "Grab the sauce can with smooth surface and set it beside the kitchenpot with smooth matte body",
+    "Lift the metal body sauce can and set it beside the medium stove pot",
+    "Grab the metal body sauce can and place it near the round pot with blue top",
+    "Grab the hand-sized sauce can and place it beside the round pot with blue top",
+    "Grab the metal body sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the right arm to grab the sauce can with smooth surface and place it by the kitchenpot with smooth matte body",
+    "Pick up the hand-sized sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the round pot with blue top",
+    "Pick up the metal body sauce can and set it beside the kitchenpot with smooth matte body",
+    "Use the right arm to pick up the sauce can with smooth surface, move it near the round pot with blue top",
+    "Grab the metal body sauce can and set it beside the kitchenpot with smooth matte body",
+    "Lift the metal body sauce can and set it beside the round pot with blue top",
+    "Grab the sauce can with smooth surface and place it near the kitchenpot with smooth matte body",
+    "Grab the metal body sauce can and place it beside the medium stove pot",
+    "Grab the metal body sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the right arm to grab the metal body sauce can and place it by the medium stove pot",
+    "Pick up the metal body sauce can and move it near the round pot with blue top",
+    "Use the right arm to pick up the sauce can with smooth surface and move it beside the medium stove pot",
+    "Pick up the hand-sized sauce can and set it beside the round pot with blue top",
+    "Use the right arm to pick up the hand-sized sauce can, move it near the kitchenpot with smooth matte body",
+    "Grab the hand-sized sauce can and set it beside the kitchenpot with smooth matte body",
+    "Lift the metal body sauce can and set it beside the kitchenpot with smooth matte body"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001120.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the white cylindrical sauce holder to the blue kitchenpot lid with black knob using the left arm",
+    "Pick the white label brown lidded can up and carefully position it beside the kitchenpot with plastic knob on lid",
+    "Grab the white label brown lidded can with the left arm and set it near the kitchenpot with plastic knob on lid",
+    "Pick up the metal can with plastic lid with the left arm and set by the blue-lid kitchenpot",
+    "Using the left arm, lift the brown cap sauce storage can and place it by the gray pot with blue circular lid",
+    "Use the left arm to pick the white cylindrical sauce holder, position it near the blue kitchenpot lid with black knob",
+    "Lift the cylindrical can brown round top, then place it next to the cooking pot with two handles",
+    "Pick the white sauce can brown top with the left arm and relocate it near the blue-lid kitchenpot",
+    "Move the cylindrical container for sauce to be next to the pots for boiling and cooking",
+    "Use the left arm to lift the brown top white sauce can and place it next to the round blue-lid kitchenpot for stovetop",
+    "Pick the white label brown lidded can and position it next to the gray kitchenpot",
+    "Take the brown cap sauce storage can with the left arm, bring it, and set next to the pots for boiling and cooking",
+    "Use the left arm to grab the brown cap sauce storage can and move it beside the gray pot with blue circular lid",
+    "Take the white sauce can with label with the left arm, place it near the metal pot with dark handles",
+    "Lift the brown cap sauce storage can, place it by the gray cylindrical pot",
+    "Use the left arm to grab the white sauce can with label, move it beside the round blue-lid kitchenpot for stovetop",
+    "Use the left arm to pick the white label brown lidded can up and set it beside the metal kitchenpot with brown handles",
+    "Place the cylindrical container for sauce next to the blue kitchenpot lid with black knob",
+    "Grab the brown-lid sauce can, move it, and place by the cooking pot with two handles",
+    "Lift the brown cap sauce storage can and move it near the metal kitchenpot with brown handles",
+    "With the left arm, grab the cylindrical container for sauce and move to the gray cylindrical pot",
+    "Grab the brown cap sauce storage can with the left arm and move it close to the blue kitchenpot lid with black knob",
+    "Lift the smooth metal sauce can white and set it beside the blue kitchenpot lid with black knob",
+    "Use the left arm to grab the brown top white sauce can and move it next to the gray cylindrical pot",
+    "Use the left arm to move the brown cap sauce storage can beside the pots for boiling and cooking",
+    "Use the left arm to grab the white cylindrical sauce holder and transfer it near the gray kitchenpot",
+    "Lift the hand-held sauce container and set it next to the kitchenpot with plastic knob on lid",
+    "Place the brown cap sauce storage can beside the pots for boiling and cooking after picking it up",
+    "Lift the cylindrical container for sauce and set it next to the kitchenpot with plastic knob on lid",
+    "Grab the hand-held sauce container, move it to the metal pot with dark handles's side",
+    "Bring the brown cap sauce storage can over and set it near the gray kitchenpot",
+    "Grab the white cylindrical sauce holder, shift it, and place it close to the gray pot with blue circular lid",
+    "Use the left arm to lift the smooth metal sauce can white, then move it next to the round blue-lid kitchenpot for stovetop",
+    "Use the left arm to lift the cylindrical can brown round top and place it near the gray cylindrical pot",
+    "Set the white sauce can brown top near the gray cylindrical pot after picking it up",
+    "Pick the white label brown lidded can up with the left arm then place near the pots for boiling and cooking",
+    "Pick up the brown top white sauce can and put it beside the cooking pot with two handles",
+    "Lift the white cylindrical sauce holder using the left arm and drop it beside the gray cylindrical pot",
+    "Pick the cylindrical container for sauce up and move it next to the pots for boiling and cooking",
+    "Move the metal can with plastic lid beside the round blue-lid kitchenpot for stovetop after lifting it",
+    "Move the hand-held sauce container from its spot to near the gray pot with blue circular lid",
+    "Use the left arm to take the smooth metal sauce can white to the gray cylindrical pot",
+    "Set the brown top white sauce can right next to the pots for boiling and cooking",
+    "Pick up the white cylindrical sauce holder using the left arm, transfer it beside the kitchenpot with plastic knob on lid",
+    "Grab the white label brown lidded can with the left arm and position it beside the blue kitchenpot lid with black knob",
+    "Move the white label brown lidded can to the metal pot with dark handles with the left arm",
+    "Lift the white label brown lidded can using the left arm and position it by the kitchenpot with plastic knob on lid",
+    "Take the brown top white sauce can using the left arm, set it next to the gray kitchenpot",
+    "Lift the white cylindrical sauce holder and place it next to the gray kitchenpot",
+    "Grab the brown cap sauce storage can and move it close to the blue-lid kitchenpot",
+    "Take the cylindrical can brown round top to the gray kitchenpot using the left arm",
+    "Pick the white label brown lidded can up and carefully position it beside the round blue-lid kitchenpot for stovetop",
+    "Grab the white cylindrical sauce holder with the left arm and set it near the round blue-lid kitchenpot for stovetop",
+    "Pick up the hand-held sauce container with the left arm and set by the blue kitchenpot lid with black knob",
+    "Using the left arm, lift the cylindrical container for sauce and place it by the gray cylindrical pot",
+    "Use the left arm to pick the smooth metal sauce can white, position it near the blue kitchenpot lid with black knob",
+    "Lift the cylindrical can brown round top, then place it next to the gray cylindrical pot",
+    "Pick the white sauce can brown top with the left arm and relocate it near the metal kitchenpot with brown handles",
+    "Move the white sauce can with label to be next to the cooking pot with two handles",
+    "Use the left arm to lift the smooth metal sauce can white and place it next to the blue-lid kitchenpot",
+    "Pick the smooth metal sauce can white and position it next to the cooking pot with two handles",
+    "Take the white label brown lidded can with the left arm, bring it, and set next to the gray kitchenpot",
+    "Use the left arm to grab the white cylindrical sauce holder and move it beside the pots for boiling and cooking",
+    "Take the brown cap sauce storage can with the left arm, place it near the gray kitchenpot",
+    "Lift the brown cap sauce storage can, place it by the gray cylindrical pot",
+    "Use the left arm to grab the white cylindrical sauce holder, move it beside the round blue-lid kitchenpot for stovetop",
+    "Use the left arm to pick the white sauce can with label up and set it beside the blue kitchenpot lid with black knob",
+    "Place the cylindrical container for sauce next to the gray cylindrical pot",
+    "Grab the cylindrical can brown round top, move it, and place by the gray pot with blue circular lid",
+    "Lift the white cylindrical sauce holder and move it near the gray kitchenpot",
+    "With the left arm, grab the smooth metal sauce can white and move to the round blue-lid kitchenpot for stovetop",
+    "Grab the cylindrical can brown round top with the left arm and move it close to the gray kitchenpot",
+    "Lift the cylindrical can brown round top and set it beside the blue-lid kitchenpot",
+    "Use the left arm to grab the metal can with plastic lid and move it next to the round blue-lid kitchenpot for stovetop",
+    "Use the left arm to move the cylindrical can brown round top beside the gray pot with blue circular lid",
+    "Use the left arm to grab the brown top white sauce can and transfer it near the matte gray pot with durable lid",
+    "Lift the white sauce can with label and set it next to the cooking pot with two handles",
+    "Place the white cylindrical sauce holder beside the blue kitchenpot lid with black knob after picking it up",
+    "Lift the smooth metal sauce can white and set it next to the gray kitchenpot",
+    "Grab the metal can with plastic lid, move it to the metal kitchenpot with brown handles's side",
+    "Bring the white sauce can brown top over and set it near the round blue-lid kitchenpot for stovetop",
+    "Grab the brown cap sauce storage can, shift it, and place it close to the metal kitchenpot with brown handles",
+    "Use the left arm to lift the hand-held sauce container, then move it next to the round blue-lid kitchenpot for stovetop",
+    "Use the left arm to lift the cylindrical container for sauce and place it near the blue kitchenpot lid with black knob",
+    "Set the smooth metal sauce can white near the round blue-lid kitchenpot for stovetop after picking it up",
+    "Pick the brown cap sauce storage can up with the left arm then place near the matte gray pot with durable lid",
+    "Pick up the white sauce can brown top and put it beside the kitchenpot with plastic knob on lid",
+    "Lift the white label brown lidded can using the left arm and drop it beside the blue kitchenpot lid with black knob",
+    "Pick the cylindrical container for sauce up and move it next to the metal kitchenpot with brown handles",
+    "Move the cylindrical can brown round top beside the gray cylindrical pot after lifting it",
+    "Move the white sauce can brown top from its spot to near the gray kitchenpot",
+    "Use the left arm to take the white label brown lidded can to the metal pot with dark handles",
+    "Set the brown-lid sauce can right next to the kitchenpot with plastic knob on lid",
+    "Pick up the smooth metal sauce can white using the left arm, transfer it beside the metal pot with dark handles",
+    "Grab the cylindrical container for sauce with the left arm and position it beside the gray pot with blue circular lid",
+    "Move the cylindrical can brown round top to the matte gray pot with durable lid with the left arm",
+    "Lift the metal can with plastic lid using the left arm and position it by the kitchenpot with plastic knob on lid",
+    "Take the metal can with plastic lid using the left arm, set it next to the cooking pot with two handles",
+    "Lift the brown top white sauce can and place it next to the blue kitchenpot lid with black knob",
+    "Grab the white sauce can brown top and move it close to the gray pot with blue circular lid"
+  ],
+  "unseen": [
+    "Pick up the medium-size cylindrical sauce can and move it near the medium stove pot",
+    "Grab the medium-size cylindrical sauce can and place it near the medium stove pot",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the round pot with blue top",
+    "Grab the medium sauce can with white label and place it beside the kitchenpot with smooth matte body",
+    "Pick up the sauce can and set it beside the medium stove pot",
+    "Grab the sauce can and set it beside the medium stove pot",
+    "Lift the medium-size cylindrical sauce can and set it beside the medium stove pot",
+    "Grab the sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the left arm to grab the sauce can and place it by the medium stove pot",
+    "Pick up the sauce can and move it near the medium stove pot",
+    "Grab the sauce can and place it near the medium stove pot",
+    "Use the left arm to pick up the sauce can, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the medium sauce can with white label and move it beside the round pot with blue top",
+    "Grab the medium sauce can with white label and place it beside the medium stove pot",
+    "Pick up the medium-size cylindrical sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can and set it beside the medium stove pot",
+    "Lift the medium sauce can with white label and set it beside the kitchenpot with smooth matte body",
+    "Grab the medium-size cylindrical sauce can and move it near the medium stove pot",
+    "Use the left arm to grab the sauce can and place it by the medium stove pot",
+    "Pick up the medium sauce can with white label and move it near the round pot with blue top",
+    "Grab the medium sauce can with white label and place it near the round pot with blue top",
+    "Use the left arm to pick up the sauce can, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the kitchenpot with smooth matte body",
+    "Grab the medium sauce can with white label and place it beside the round pot with blue top",
+    "Pick up the sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the medium-size cylindrical sauce can and set it beside the medium stove pot",
+    "Lift the sauce can and set it beside the round pot with blue top",
+    "Grab the medium sauce can with white label and move it near the medium stove pot",
+    "Use the left arm to grab the medium sauce can with white label and place it by the medium stove pot",
+    "Pick up the sauce can and move it near the medium stove pot",
+    "Grab the sauce can and place it near the medium stove pot",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the medium stove pot",
+    "Use the left arm to pick up the medium sauce can with white label and move it beside the kitchenpot with smooth matte body",
+    "Grab the medium-size cylindrical sauce can and place it beside the kitchenpot with smooth matte body",
+    "Pick up the medium sauce can with white label and set it beside the round pot with blue top",
+    "Grab the sauce can and set it beside the kitchenpot with smooth matte body",
+    "Lift the medium sauce can with white label and set it beside the round pot with blue top",
+    "Grab the medium sauce can with white label and move it near the medium stove pot",
+    "Use the left arm to grab the medium sauce can with white label and place it by the kitchenpot with smooth matte body",
+    "Pick up the medium sauce can with white label and move it near the round pot with blue top",
+    "Grab the sauce can and place it near the round pot with blue top",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the medium sauce can with white label and move it beside the kitchenpot with smooth matte body",
+    "Grab the medium-size cylindrical sauce can and place it beside the medium stove pot",
+    "Pick up the medium sauce can with white label and set it beside the medium stove pot",
+    "Grab the medium-size cylindrical sauce can and set it beside the round pot with blue top",
+    "Lift the sauce can and set it beside the round pot with blue top",
+    "Grab the medium-size cylindrical sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the left arm to grab the sauce can and place it by the round pot with blue top",
+    "Pick up the medium-size cylindrical sauce can and move it near the medium stove pot",
+    "Grab the medium-size cylindrical sauce can and place it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the medium-size cylindrical sauce can and move it beside the round pot with blue top",
+    "Grab the medium-size cylindrical sauce can and place it beside the kitchenpot with smooth matte body",
+    "Pick up the medium-size cylindrical sauce can and set it beside the medium stove pot",
+    "Grab the sauce can and set it beside the medium stove pot",
+    "Lift the medium-size cylindrical sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the sauce can and move it near the medium stove pot",
+    "Use the left arm to grab the sauce can and place it by the kitchenpot with smooth matte body",
+    "Pick up the medium sauce can with white label and move it near the round pot with blue top",
+    "Grab the medium sauce can with white label and place it near the medium stove pot",
+    "Use the left arm to pick up the sauce can, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the sauce can and move it beside the round pot with blue top",
+    "Grab the sauce can and place it beside the kitchenpot with smooth matte body",
+    "Pick up the sauce can and set it beside the kitchenpot with smooth matte body",
+    "Grab the medium sauce can with white label and set it beside the kitchenpot with smooth matte body",
+    "Lift the medium-size cylindrical sauce can and set it beside the medium stove pot",
+    "Grab the sauce can and move it near the kitchenpot with smooth matte body",
+    "Use the left arm to grab the sauce can and place it by the medium stove pot",
+    "Pick up the medium sauce can with white label and move it near the medium stove pot",
+    "Grab the medium-size cylindrical sauce can and place it near the round pot with blue top",
+    "Use the left arm to pick up the sauce can, move it near the round pot with blue top",
+    "Use the left arm to pick up the sauce can and move it beside the kitchenpot with smooth matte body",
+    "Grab the medium-size cylindrical sauce can and place it beside the round pot with blue top",
+    "Pick up the medium sauce can with white label and set it beside the medium stove pot",
+    "Grab the sauce can and set it beside the kitchenpot with smooth matte body",
+    "Lift the sauce can and set it beside the round pot with blue top",
+    "Grab the medium-size cylindrical sauce can and move it near the medium stove pot",
+    "Use the left arm to grab the medium sauce can with white label and place it by the round pot with blue top",
+    "Pick up the medium sauce can with white label and move it near the round pot with blue top",
+    "Grab the medium-size cylindrical sauce can and place it near the round pot with blue top",
+    "Use the left arm to pick up the medium-size cylindrical sauce can, move it near the medium stove pot",
+    "Use the left arm to pick up the sauce can and move it beside the medium stove pot",
+    "Grab the sauce can and place it beside the round pot with blue top",
+    "Pick up the medium sauce can with white label and set it beside the round pot with blue top",
+    "Grab the sauce can and set it beside the round pot with blue top",
+    "Lift the medium sauce can with white label and set it beside the kitchenpot with smooth matte body",
+    "Grab the medium-size cylindrical sauce can and move it near the medium stove pot",
+    "Use the left arm to grab the medium-size cylindrical sauce can and place it by the kitchenpot with smooth matte body",
+    "Pick up the sauce can and move it near the medium stove pot",
+    "Grab the medium sauce can with white label and place it near the round pot with blue top",
+    "Use the left arm to pick up the medium sauce can with white label, move it near the kitchenpot with smooth matte body",
+    "Use the left arm to pick up the sauce can and move it beside the medium stove pot",
+    "Grab the medium sauce can with white label and place it beside the round pot with blue top",
+    "Pick up the medium-size cylindrical sauce can and set it beside the round pot with blue top",
+    "Grab the sauce can and set it beside the round pot with blue top",
+    "Lift the sauce can and set it beside the medium stove pot",
+    "Grab the sauce can and move it near the round pot with blue top",
+    "Use the left arm to grab the medium-size cylindrical sauce can and place it by the round pot with blue top"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001121.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the plastic lid sauce can with the left arm and move it close to the gray kitchenpot",
+    "Lift the medium sauce can with white lid using the left arm and drop it beside the kitchenpot with smooth texture",
+    "Grab the round sauce can with yellow pattern with the left arm and set it near the round pot with dark gray knob",
+    "Using the left arm, lift the sauce can and place it by the medium-sized smooth gray cooking pot",
+    "Pick up the sauce can using the left arm, transfer it beside the pot with round lid",
+    "Lift the sauce can, then place it next to the kitchenpot used for cooking meals",
+    "With the left arm, grab the sauce can with sealed top and move to the kitchenpot with smooth texture",
+    "Use the left arm to lift the cylindrical sauce can, then move it next to the rounded pot with metal lid",
+    "Take the sauce can using the left arm, set it next to the medium-sized smooth gray cooking pot",
+    "Move the sauce can with sealed top from its spot to near the gray kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can, move it to the gray kitchenpot's side",
+    "Lift the sauce can and set it next to the metal cooking pot",
+    "Bring the hand-sized sauce can over and set it near the dark gray pot with side handles",
+    "Grab the medium sauce can with white lid and move it close to the metal cooking pot",
+    "Use the left arm to grab the sauce can with glossy finish and move it beside the metal cooking pot",
+    "Lift the rounded-edge sauce can and set it next to the medium-sized smooth gray cooking pot",
+    "Move the medium sauce can with white lid beside the dark gray pot with side handles after lifting it",
+    "Lift the white plastic lid sauce can, place it by the medium gray pot with handles",
+    "Move the plastic lid sauce can to be next to the metal cooking pot",
+    "Pick the hand-sized sauce can up and carefully position it beside the dark gray pot with side handles",
+    "Pick up the rounded-edge sauce can and put it beside the medium gray pot with handles",
+    "Place the hand-sized sauce can next to the kitchenpot used for cooking meals",
+    "Use the left arm to lift the brown and yellow cylindrical sauce can and place it next to the pot with round lid",
+    "Use the left arm to take the plastic lid sauce can to the dark gray pot with side handles",
+    "Use the left arm to lift the cylindrical sauce can and place it near the rounded pot with metal lid",
+    "Take the sauce can with glossy finish with the left arm, place it near the round pot with dark gray knob",
+    "Pick up the white plastic lid sauce can with the left arm and set by the metal cooking pot",
+    "Grab the yellow brown sauce can, shift it, and place it close to the medium gray pot with handles",
+    "Take the sauce can to the gray kitchenpot using the left arm",
+    "Lift the rounded-edge sauce can and set it beside the kitchenpot with smooth texture",
+    "Lift the sauce can with sealed top using the left arm and position it by the rounded pot with metal lid",
+    "Place the sauce can beside the kitchenpot used for cooking meals after picking it up",
+    "Use the left arm to pick the white plastic lid sauce can, position it near the round pot with dark gray knob",
+    "Grab the brown and yellow cylindrical sauce can, move it, and place by the medium-sized smooth gray cooking pot",
+    "Lift the yellow brown sauce can and place it next to the metal cooking pot",
+    "Lift the yellow brown sauce can and move it near the pot with round lid",
+    "Grab the yellow brown sauce can with the left arm and position it beside the dark gray pot with side handles",
+    "Use the left arm to grab the sauce can with glossy finish and transfer it near the medium-sized smooth gray cooking pot",
+    "Take the white plastic lid sauce can with the left arm, bring it, and set next to the kitchenpot with smooth texture",
+    "Move the sauce can to the round pot with dark gray knob with the left arm",
+    "Set the yellow brown sauce can near the rounded pot with metal lid after picking it up",
+    "Use the left arm to pick the sauce can up and set it beside the kitchenpot used for cooking meals",
+    "Use the left arm to move the white plastic lid sauce can beside the dark gray pot with side handles",
+    "Pick the medium sauce can with white lid and position it next to the kitchenpot used for cooking meals",
+    "Set the round sauce can with yellow pattern right next to the medium gray pot with handles",
+    "Use the left arm to grab the hand-sized sauce can, move it beside the rounded pot with metal lid",
+    "Pick the round sauce can with yellow pattern up with the left arm then place near the pot with lid and sturdy handles",
+    "Pick the rounded-edge sauce can with the left arm and relocate it near the medium gray pot with handles",
+    "Use the left arm to grab the brown and yellow cylindrical sauce can and move it next to the pot with lid and sturdy handles",
+    "Pick the sauce can with glossy finish up and move it next to the rounded pot with metal lid",
+    "Grab the hand-sized sauce can with the left arm and move it close to the rounded pot with metal lid",
+    "Lift the white plastic lid sauce can using the left arm and drop it beside the dark gray pot with side handles",
+    "Grab the sauce can with sealed top with the left arm and set it near the rounded pot with metal lid",
+    "Using the left arm, lift the rounded-edge sauce can and place it by the medium-sized smooth gray cooking pot",
+    "Pick up the medium sauce can with white lid using the left arm, transfer it beside the rounded pot with metal lid",
+    "Lift the yellow brown sauce can, then place it next to the pot with round lid",
+    "With the left arm, grab the sauce can and move to the pot with round lid",
+    "Use the left arm to lift the medium sauce can with white lid, then move it next to the kitchenpot used for cooking meals",
+    "Take the brown and yellow cylindrical sauce can using the left arm, set it next to the gray pot for boiling food",
+    "Move the sauce can with sealed top from its spot to near the round pot with dark gray knob",
+    "Grab the medium sauce can with white lid, move it to the pot with round lid's side",
+    "Lift the hand-sized sauce can and set it next to the metal cooking pot",
+    "Bring the sauce can over and set it near the kitchenpot with smooth texture",
+    "Grab the hand-sized sauce can and move it close to the pot with round lid",
+    "Use the left arm to grab the plastic lid sauce can and move it beside the pot with round lid",
+    "Lift the plastic lid sauce can and set it next to the medium gray pot with handles",
+    "Move the sauce can with sealed top beside the kitchenpot used for cooking meals after lifting it",
+    "Lift the plastic lid sauce can, place it by the medium gray pot with handles",
+    "Move the white plastic lid sauce can to be next to the round pot with dark gray knob",
+    "Pick the plastic lid sauce can up and carefully position it beside the metal cooking pot",
+    "Pick up the white plastic lid sauce can and put it beside the medium gray pot with handles",
+    "Place the brown and yellow cylindrical sauce can next to the gray kitchenpot",
+    "Use the left arm to lift the hand-sized sauce can and place it next to the round pot with dark gray knob",
+    "Use the left arm to take the cylindrical sauce can to the rounded pot with metal lid",
+    "Use the left arm to lift the hand-sized sauce can and place it near the pot with lid and sturdy handles",
+    "Take the rounded-edge sauce can with the left arm, place it near the pot with round lid",
+    "Pick up the cylindrical sauce can with the left arm and set by the pot with round lid",
+    "Grab the sauce can with glossy finish, shift it, and place it close to the dark gray pot with side handles",
+    "Take the white plastic lid sauce can to the medium-sized smooth gray cooking pot using the left arm",
+    "Lift the rounded-edge sauce can and set it beside the round pot with dark gray knob",
+    "Lift the hand-sized sauce can using the left arm and position it by the gray pot for boiling food",
+    "Place the plastic lid sauce can beside the medium gray pot with handles after picking it up",
+    "Use the left arm to pick the medium sauce can with white lid, position it near the round pot with dark gray knob",
+    "Grab the rounded-edge sauce can, move it, and place by the dark gray pot with side handles",
+    "Lift the white plastic lid sauce can and place it next to the medium-sized smooth gray cooking pot",
+    "Lift the white plastic lid sauce can and move it near the pot with lid and sturdy handles",
+    "Grab the cylindrical sauce can with the left arm and position it beside the metal cooking pot",
+    "Use the left arm to grab the yellow brown sauce can and transfer it near the gray pot for boiling food",
+    "Take the sauce can with the left arm, bring it, and set next to the round pot with dark gray knob",
+    "Move the medium sauce can with white lid to the rounded pot with metal lid with the left arm",
+    "Set the white plastic lid sauce can near the medium gray pot with handles after picking it up",
+    "Use the left arm to pick the sauce can with glossy finish up and set it beside the kitchenpot with smooth texture",
+    "Use the left arm to move the rounded-edge sauce can beside the pot with round lid",
+    "Pick the plastic lid sauce can and position it next to the medium-sized smooth gray cooking pot",
+    "Set the plastic lid sauce can right next to the metal cooking pot",
+    "Use the left arm to grab the cylindrical sauce can, move it beside the pot with lid and sturdy handles",
+    "Pick the sauce can with glossy finish up with the left arm then place near the gray pot for boiling food",
+    "Pick the sauce can with the left arm and relocate it near the pot with lid and sturdy handles",
+    "Use the left arm to grab the sauce can and move it next to the gray kitchenpot",
+    "Pick the rounded-edge sauce can up and move it next to the kitchenpot used for cooking meals"
+  ],
+  "unseen": [
+    "Pick up the yellow label on sauce can and set it beside the metal pot with curved handles",
+    "Grab the smooth sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Grab the smooth sauce can and place it beside the metal pot with curved handles",
+    "Lift the brown sauce can with top lid and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the brown sauce can with top lid and move it near the metal pot with curved handles",
+    "Grab the brown sauce can with top lid and move it near the cylindrical kitchenpot for cooking",
+    "Grab the smooth sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to grab the yellow label on sauce can and place it by the smooth gray pot with matte finish",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the smooth gray pot with matte finish",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the cylindrical kitchenpot for cooking",
+    "Pick up the yellow label on sauce can and set it beside the metal pot with curved handles",
+    "Grab the smooth sauce can and place it near the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and place it beside the cylindrical kitchenpot for cooking",
+    "Lift the yellow label on sauce can and set it beside the smooth gray pot with matte finish",
+    "Pick up the yellow label on sauce can and move it near the metal pot with curved handles",
+    "Grab the brown sauce can with top lid and move it near the metal pot with curved handles",
+    "Grab the brown sauce can with top lid and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to grab the yellow label on sauce can and place it by the smooth gray pot with matte finish",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the smooth gray pot with matte finish",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the metal pot with curved handles",
+    "Pick up the smooth sauce can and set it beside the metal pot with curved handles",
+    "Grab the smooth sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Grab the brown sauce can with top lid and place it beside the smooth gray pot with matte finish",
+    "Lift the yellow label on sauce can and set it beside the smooth gray pot with matte finish",
+    "Pick up the smooth sauce can and move it near the smooth gray pot with matte finish",
+    "Grab the brown sauce can with top lid and move it near the cylindrical kitchenpot for cooking",
+    "Grab the yellow label on sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to grab the yellow label on sauce can and place it by the smooth gray pot with matte finish",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the metal pot with curved handles",
+    "Pick up the smooth sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the brown sauce can with top lid and place it near the metal pot with curved handles",
+    "Grab the smooth sauce can and place it beside the cylindrical kitchenpot for cooking",
+    "Lift the brown sauce can with top lid and set it beside the metal pot with curved handles",
+    "Pick up the yellow label on sauce can and move it near the smooth gray pot with matte finish",
+    "Grab the brown sauce can with top lid and move it near the smooth gray pot with matte finish",
+    "Grab the yellow label on sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to grab the yellow label on sauce can and place it by the smooth gray pot with matte finish",
+    "Use the left arm to pick up the smooth sauce can, move it near the metal pot with curved handles",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the smooth gray pot with matte finish",
+    "Pick up the brown sauce can with top lid and set it beside the metal pot with curved handles",
+    "Grab the yellow label on sauce can and place it near the metal pot with curved handles",
+    "Grab the brown sauce can with top lid and place it beside the smooth gray pot with matte finish",
+    "Lift the smooth sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the yellow label on sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Grab the yellow label on sauce can and move it near the smooth gray pot with matte finish",
+    "Grab the brown sauce can with top lid and set it beside the metal pot with curved handles",
+    "Use the left arm to grab the smooth sauce can and place it by the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the smooth sauce can and move it beside the metal pot with curved handles",
+    "Pick up the smooth sauce can and set it beside the metal pot with curved handles",
+    "Grab the smooth sauce can and place it near the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and place it beside the metal pot with curved handles",
+    "Lift the yellow label on sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the yellow label on sauce can and move it near the metal pot with curved handles",
+    "Grab the smooth sauce can and move it near the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the metal pot with curved handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the brown sauce can with top lid and move it beside the metal pot with curved handles",
+    "Pick up the yellow label on sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Grab the smooth sauce can and place it near the metal pot with curved handles",
+    "Grab the yellow label on sauce can and place it beside the cylindrical kitchenpot for cooking",
+    "Lift the smooth sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the yellow label on sauce can and move it near the metal pot with curved handles",
+    "Grab the yellow label on sauce can and move it near the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and set it beside the metal pot with curved handles",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the metal pot with curved handles",
+    "Use the left arm to pick up the smooth sauce can, move it near the metal pot with curved handles",
+    "Use the left arm to pick up the smooth sauce can and move it beside the metal pot with curved handles",
+    "Pick up the yellow label on sauce can and set it beside the metal pot with curved handles",
+    "Grab the smooth sauce can and place it near the metal pot with curved handles",
+    "Grab the brown sauce can with top lid and place it beside the metal pot with curved handles",
+    "Lift the smooth sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the yellow label on sauce can and move it near the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and move it near the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and set it beside the smooth gray pot with matte finish",
+    "Use the left arm to grab the yellow label on sauce can and place it by the metal pot with curved handles",
+    "Use the left arm to pick up the yellow label on sauce can, move it near the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the smooth sauce can and move it beside the cylindrical kitchenpot for cooking",
+    "Pick up the smooth sauce can and set it beside the metal pot with curved handles",
+    "Grab the yellow label on sauce can and place it near the metal pot with curved handles",
+    "Grab the brown sauce can with top lid and place it beside the cylindrical kitchenpot for cooking",
+    "Lift the brown sauce can with top lid and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the yellow label on sauce can and move it near the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and move it near the metal pot with curved handles",
+    "Grab the smooth sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to grab the brown sauce can with top lid and place it by the cylindrical kitchenpot for cooking",
+    "Use the left arm to pick up the brown sauce can with top lid, move it near the metal pot with curved handles",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the smooth gray pot with matte finish",
+    "Pick up the yellow label on sauce can and set it beside the smooth gray pot with matte finish",
+    "Grab the smooth sauce can and place it near the cylindrical kitchenpot for cooking",
+    "Grab the brown sauce can with top lid and place it beside the metal pot with curved handles",
+    "Lift the yellow label on sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Pick up the yellow label on sauce can and move it near the cylindrical kitchenpot for cooking",
+    "Grab the smooth sauce can and move it near the smooth gray pot with matte finish",
+    "Grab the yellow label on sauce can and set it beside the cylindrical kitchenpot for cooking",
+    "Use the left arm to grab the yellow label on sauce can and place it by the smooth gray pot with matte finish",
+    "Use the left arm to pick up the smooth sauce can, move it near the smooth gray pot with matte finish",
+    "Use the left arm to pick up the yellow label on sauce can and move it beside the cylindrical kitchenpot for cooking"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001125.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the sauce can with red lid next to the round kitchenpot with two side grips",
+    "Pick up the red can with orange label using the right arm, transfer it beside the blue kitchenpot with smooth matte sides",
+    "Use the right arm to grab the sauce can with red lid, move it beside the kitchenpot with flat lid and knob",
+    "Use the right arm to pick the small cylindrical sauce can, position it near the kitchenpot with flat lid and knob",
+    "Lift the compact sauce can with plastic lid and set it beside the blue kitchenpot with smooth matte sides",
+    "Lift the sauce can with printed design and place it next to the round teal cooking pot with matte texture",
+    "Move the small metal sauce container from its spot to near the medium teal blue kitchenpot with handles",
+    "Place the red can with orange label beside the teal pot for boiling and cooking after picking it up",
+    "Lift the metal body sauce can, place it by the kitchenpot with two sturdy blue handles",
+    "Lift the sauce can with rounded top cap and move it near the smooth teal kitchenpot for stovetop use",
+    "Use the right arm to grab the smooth sauce can and move it next to the round teal cooking pot with matte texture",
+    "Use the right arm to pick the compact sauce can with plastic lid up and set it beside the kitchenpot with two sturdy blue handles",
+    "Set the red can with orange label near the blue kitchenpot with smooth matte sides after picking it up",
+    "Lift the small cylindrical sauce can, then place it next to the kitchenpot with two sturdy blue handles",
+    "With the right arm, grab the compact sauce can with plastic lid and move to the round teal cooking pot with matte texture",
+    "Use the right arm to grab the small cylindrical sauce can and move it beside the round teal cooking pot with matte texture",
+    "Grab the metal body sauce can and move it close to the medium teal-colored pot with flat lid",
+    "Pick the sauce can with rounded top cap up and move it next to the teal pot for boiling and cooking",
+    "Move the sturdy sauce can with glossy finish to be next to the medium-sized teal blue cooking pot",
+    "Grab the small cylindrical sauce can with the right arm and set it near the smooth teal kitchenpot for stovetop use",
+    "Use the right arm to move the cylindrical sauce can beside the teal pot for boiling and cooking",
+    "Grab the smooth sauce can, shift it, and place it close to the blue kitchenpot with smooth matte sides",
+    "Grab the compact sauce can with plastic lid with the right arm and position it beside the smooth teal kitchenpot for stovetop use",
+    "Move the sauce can with printed design to the round teal cooking pot with matte texture with the right arm",
+    "Using the right arm, lift the red and orange sauce can and place it by the blue cylinder pot with smooth lid",
+    "Lift the sauce can with red lid using the right arm and drop it beside the blue cylinder pot with smooth lid",
+    "Use the right arm to grab the cylindrical sauce can and transfer it near the blue kitchenpot with smooth matte sides",
+    "Take the sauce can with red lid with the right arm, place it near the blue cylinder pot with smooth lid",
+    "Take the cylindrical sauce can using the right arm, set it next to the medium-sized teal blue cooking pot",
+    "Grab the sauce can with rounded top cap with the right arm and move it close to the kitchenpot with two sturdy blue handles",
+    "Pick the sturdy sauce can with glossy finish and position it next to the teal pot for boiling and cooking",
+    "Lift the sauce can with red lid using the right arm and position it by the smooth teal kitchenpot for stovetop use",
+    "Move the small metal sauce container beside the round teal cooking pot with matte texture after lifting it",
+    "Take the sauce can with printed design with the right arm, bring it, and set next to the kitchenpot with two sturdy blue handles",
+    "Grab the small metal sauce container, move it to the kitchenpot with two sturdy blue handles's side",
+    "Bring the small cylindrical sauce can over and set it near the cooking pot with two blue handles",
+    "Pick up the smooth sauce can and put it beside the teal pot for boiling and cooking",
+    "Lift the metal body sauce can and set it next to the blue cylinder pot with smooth lid",
+    "Pick up the compact sauce can with plastic lid with the right arm and set by the blue kitchenpot with smooth matte sides",
+    "Take the sauce can with printed design to the medium teal-colored pot with flat lid using the right arm",
+    "Pick the red can with orange label with the right arm and relocate it near the blue kitchenpot with smooth matte sides",
+    "Lift the red can with orange label and set it next to the medium-sized teal blue cooking pot",
+    "Grab the sauce can with printed design, move it, and place by the medium teal blue kitchenpot with handles",
+    "Pick the red can with orange label up with the right arm then place near the blue cylinder pot with smooth lid",
+    "Use the right arm to take the cylindrical sauce can to the round kitchenpot with two side grips",
+    "Use the right arm to lift the sauce can with red lid, then move it next to the medium teal-colored pot with flat lid",
+    "Set the sauce can with rounded top cap right next to the round kitchenpot with two side grips",
+    "Use the right arm to lift the small cylindrical sauce can and place it near the kitchenpot with two sturdy blue handles",
+    "Pick the red can with orange label up and carefully position it beside the teal pot for boiling and cooking",
+    "Use the right arm to lift the sauce can with rounded top cap and place it next to the blue kitchenpot with smooth matte sides",
+    "Place the sturdy sauce can with glossy finish next to the round kitchenpot with two side grips",
+    "Pick up the red and orange sauce can using the right arm, transfer it beside the kitchenpot with two sturdy blue handles",
+    "Use the right arm to grab the cylindrical sauce can, move it beside the blue cylinder pot with smooth lid",
+    "Use the right arm to pick the cylindrical sauce can, position it near the kitchenpot with two sturdy blue handles",
+    "Lift the smooth sauce can and set it beside the blue kitchenpot with smooth matte sides",
+    "Lift the sauce can with rounded top cap and place it next to the blue kitchenpot with smooth matte sides",
+    "Move the sauce can with red lid from its spot to near the cooking pot with two blue handles",
+    "Place the compact sauce can with plastic lid beside the blue cylinder pot with smooth lid after picking it up",
+    "Lift the red and orange sauce can, place it by the medium teal blue kitchenpot with handles",
+    "Lift the cylindrical sauce can and move it near the kitchenpot with two sturdy blue handles",
+    "Use the right arm to grab the smooth sauce can and move it next to the kitchenpot with flat lid and knob",
+    "Use the right arm to pick the red and orange sauce can up and set it beside the cooking pot with two blue handles",
+    "Set the small cylindrical sauce can near the kitchenpot with two sturdy blue handles after picking it up",
+    "Lift the small cylindrical sauce can, then place it next to the smooth teal kitchenpot for stovetop use",
+    "With the right arm, grab the sturdy sauce can with glossy finish and move to the cooking pot with two blue handles",
+    "Use the right arm to grab the sturdy sauce can with glossy finish and move it beside the kitchenpot with flat lid and knob",
+    "Grab the sturdy sauce can with glossy finish and move it close to the smooth teal kitchenpot for stovetop use",
+    "Pick the red and orange sauce can up and move it next to the round kitchenpot with two side grips",
+    "Move the smooth sauce can to be next to the cooking pot with two blue handles",
+    "Grab the cylindrical sauce can with the right arm and set it near the blue kitchenpot with smooth matte sides",
+    "Use the right arm to move the small metal sauce container beside the round teal cooking pot with matte texture",
+    "Grab the metal body sauce can, shift it, and place it close to the blue kitchenpot with smooth matte sides",
+    "Grab the metal body sauce can with the right arm and position it beside the kitchenpot with flat lid and knob",
+    "Move the metal body sauce can to the medium-sized teal blue cooking pot with the right arm",
+    "Using the right arm, lift the red can with orange label and place it by the round kitchenpot with two side grips",
+    "Lift the compact sauce can with plastic lid using the right arm and drop it beside the smooth teal kitchenpot for stovetop use",
+    "Use the right arm to grab the sauce can with rounded top cap and transfer it near the blue cylinder pot with smooth lid",
+    "Take the sturdy sauce can with glossy finish with the right arm, place it near the medium teal blue kitchenpot with handles",
+    "Take the small metal sauce container using the right arm, set it next to the medium-sized teal blue cooking pot",
+    "Grab the red can with orange label with the right arm and move it close to the kitchenpot with flat lid and knob",
+    "Pick the small metal sauce container and position it next to the cooking pot with two blue handles",
+    "Lift the red and orange sauce can using the right arm and position it by the medium-sized teal blue cooking pot",
+    "Move the metal body sauce can beside the medium teal blue kitchenpot with handles after lifting it",
+    "Take the sauce can with red lid with the right arm, bring it, and set next to the medium-sized teal blue cooking pot",
+    "Grab the metal body sauce can, move it to the round kitchenpot with two side grips's side",
+    "Bring the sauce can with printed design over and set it near the medium teal blue kitchenpot with handles",
+    "Pick up the small metal sauce container and put it beside the medium teal-colored pot with flat lid",
+    "Lift the sauce can with printed design and set it next to the cooking pot with two blue handles",
+    "Pick up the metal body sauce can with the right arm and set by the blue kitchenpot with smooth matte sides",
+    "Take the cylindrical sauce can to the smooth teal kitchenpot for stovetop use using the right arm",
+    "Pick the red can with orange label with the right arm and relocate it near the round teal cooking pot with matte texture",
+    "Lift the sauce can with rounded top cap and set it next to the kitchenpot with two sturdy blue handles",
+    "Grab the small metal sauce container, move it, and place by the kitchenpot with flat lid and knob",
+    "Pick the compact sauce can with plastic lid up with the right arm then place near the round kitchenpot with two side grips",
+    "Use the right arm to take the small cylindrical sauce can to the medium-sized teal blue cooking pot",
+    "Use the right arm to lift the small metal sauce container, then move it next to the medium teal-colored pot with flat lid",
+    "Set the red can with orange label right next to the cooking pot with two blue handles",
+    "Use the right arm to lift the metal body sauce can and place it near the blue cylinder pot with smooth lid",
+    "Pick the sauce can with rounded top cap up and carefully position it beside the round kitchenpot with two side grips",
+    "Use the right arm to lift the smooth sauce can and place it next to the medium-sized teal blue cooking pot"
+  ],
+  "unseen": [
+    "Use the right arm to pick up the red sauce can, move it near the teal blue cooking pot",
+    "Lift the sauce can with round ridged lid and set it beside the blue kitchenpot",
+    "Grab the red can with white text and move it near the teal blue cooking pot",
+    "Grab the red can with white text and place it beside the teal blue cooking pot",
+    "Pick up the sauce can with round ridged lid and move it near the teal blue cooking pot",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and place it near the blue pot with cylindrical body and lid",
+    "Pick up the red sauce can and set it beside the teal blue cooking pot",
+    "Use the right arm to grab the red sauce can and place it by the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the red sauce can, move it near the blue pot with cylindrical body and lid",
+    "Lift the red can with white text and set it beside the blue kitchenpot",
+    "Grab the red can with white text and move it near the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and place it beside the blue pot with cylindrical body and lid",
+    "Pick up the red can with white text and move it near the blue kitchenpot",
+    "Use the right arm to pick up the red sauce can and move it beside the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and place it near the blue pot with cylindrical body and lid",
+    "Pick up the sauce can with round ridged lid and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the red sauce can and place it by the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the blue pot with cylindrical body and lid",
+    "Lift the sauce can with round ridged lid and set it beside the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and move it near the blue pot with cylindrical body and lid",
+    "Grab the red sauce can and place it beside the teal blue cooking pot",
+    "Pick up the sauce can with round ridged lid and move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the red sauce can and move it beside the blue kitchenpot",
+    "Grab the red can with white text and place it near the teal blue cooking pot",
+    "Pick up the red can with white text and set it beside the teal blue cooking pot",
+    "Use the right arm to grab the red can with white text and place it by the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the red can with white text, move it near the blue pot with cylindrical body and lid",
+    "Lift the red sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and move it near the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and place it beside the blue kitchenpot",
+    "Pick up the sauce can with round ridged lid and move it near the teal blue cooking pot",
+    "Use the right arm to pick up the red can with white text and move it beside the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and place it near the blue kitchenpot",
+    "Pick up the sauce can with round ridged lid and set it beside the teal blue cooking pot",
+    "Use the right arm to grab the red sauce can and place it by the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the red sauce can, move it near the teal blue cooking pot",
+    "Lift the sauce can with round ridged lid and set it beside the blue kitchenpot",
+    "Grab the red can with white text and move it near the blue kitchenpot",
+    "Grab the red sauce can and place it beside the blue kitchenpot",
+    "Pick up the sauce can with round ridged lid and move it near the teal blue cooking pot",
+    "Use the right arm to pick up the red can with white text and move it beside the blue kitchenpot",
+    "Grab the red can with white text and place it near the blue pot with cylindrical body and lid",
+    "Pick up the red sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the red sauce can and place it by the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the teal blue cooking pot",
+    "Lift the sauce can with round ridged lid and set it beside the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and move it near the blue kitchenpot",
+    "Grab the red sauce can and place it beside the blue kitchenpot",
+    "Pick up the sauce can with round ridged lid and move it near the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the red sauce can and move it beside the teal blue cooking pot",
+    "Grab the red can with white text and place it near the blue kitchenpot",
+    "Pick up the sauce can with round ridged lid and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to grab the red can with white text and place it by the teal blue cooking pot",
+    "Grab the red can with white text and set it beside the blue kitchenpot",
+    "Use the right arm to pick up the red can with white text, move it near the teal blue cooking pot",
+    "Lift the red can with white text and set it beside the teal blue cooking pot",
+    "Grab the red can with white text and move it near the blue kitchenpot",
+    "Grab the red sauce can and place it beside the teal blue cooking pot",
+    "Pick up the red can with white text and move it near the blue kitchenpot",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the blue pot with cylindrical body and lid",
+    "Grab the sauce can with round ridged lid and place it near the teal blue cooking pot",
+    "Pick up the red sauce can and set it beside the teal blue cooking pot",
+    "Use the right arm to grab the red sauce can and place it by the teal blue cooking pot",
+    "Grab the sauce can with round ridged lid and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the red can with white text, move it near the blue kitchenpot",
+    "Lift the red can with white text and set it beside the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and move it near the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and place it beside the blue pot with cylindrical body and lid",
+    "Pick up the sauce can with round ridged lid and move it near the teal blue cooking pot",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and place it near the blue pot with cylindrical body and lid",
+    "Pick up the sauce can with round ridged lid and set it beside the blue kitchenpot",
+    "Use the right arm to grab the red can with white text and place it by the blue pot with cylindrical body and lid",
+    "Grab the red sauce can and set it beside the blue pot with cylindrical body and lid",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the blue pot with cylindrical body and lid",
+    "Lift the sauce can with round ridged lid and set it beside the teal blue cooking pot",
+    "Grab the red sauce can and move it near the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and place it beside the teal blue cooking pot",
+    "Pick up the red sauce can and move it near the blue kitchenpot",
+    "Use the right arm to pick up the red sauce can and move it beside the blue pot with cylindrical body and lid",
+    "Grab the red can with white text and place it near the blue kitchenpot",
+    "Pick up the red can with white text and set it beside the teal blue cooking pot",
+    "Use the right arm to grab the red sauce can and place it by the blue kitchenpot",
+    "Grab the red can with white text and set it beside the teal blue cooking pot",
+    "Use the right arm to pick up the sauce can with round ridged lid, move it near the blue pot with cylindrical body and lid",
+    "Lift the sauce can with round ridged lid and set it beside the blue kitchenpot",
+    "Grab the sauce can with round ridged lid and move it near the blue pot with cylindrical body and lid",
+    "Grab the red sauce can and place it beside the teal blue cooking pot",
+    "Pick up the sauce can with round ridged lid and move it near the teal blue cooking pot",
+    "Use the right arm to pick up the sauce can with round ridged lid and move it beside the teal blue cooking pot",
+    "Grab the red sauce can and place it near the blue kitchenpot",
+    "Pick up the sauce can with round ridged lid and set it beside the teal blue cooking pot",
+    "Use the right arm to grab the red can with white text and place it by the blue kitchenpot",
+    "Grab the red can with white text and set it beside the blue pot with cylindrical body and lid"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/move_can_pot/episode10001127.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the sauce can with the right arm and set by the smooth gray kitchenpot",
+    "Lift the cylindrical sauce can, then place it next to the gray kitchenpot",
+    "Use the right arm to lift the brown and yellow cylindrical sauce can and place it near the medium-sized kitchenpot",
+    "Use the right arm to lift the hand-sized sauce can, then move it next to the medium-sized kitchenpot",
+    "Take the sauce can with the right arm, bring it, and set next to the kitchenpot for boiling and cooking",
+    "Move the cylindrical sauce can to the cylindrical kitchenpot with the right arm",
+    "Lift the brown and yellow cylindrical sauce can using the right arm and position it by the medium kitchenpot made of metal",
+    "Use the right arm to move the round sauce can with yellow pattern beside the kitchenpot for boiling and cooking",
+    "Lift the round sauce can with yellow pattern and set it next to the medium kitchenpot made of metal",
+    "Lift the rounded-edge sauce can and set it beside the medium-sized kitchenpot",
+    "Lift the sauce can with sealed top, place it by the round kitchenpot with handles",
+    "Use the right arm to grab the medium sauce can with white lid and move it beside the cooking kitchenpot with side grips",
+    "Pick the plastic lid sauce can with the right arm and relocate it near the metal kitchenpot",
+    "Grab the brown and yellow cylindrical sauce can with the right arm and position it beside the cylindrical kitchenpot",
+    "Pick the cylindrical sauce can up and carefully position it beside the dark gray stove kitchenpot",
+    "Pick up the medium sauce can with white lid and put it beside the cylindrical kitchenpot",
+    "Move the cylindrical sauce can from its spot to near the dark gray stove kitchenpot",
+    "Set the medium sauce can with white lid right next to the round kitchenpot with handles",
+    "Take the white plastic lid sauce can with the right arm, place it near the cylindrical kitchenpot",
+    "Place the rounded-edge sauce can beside the medium kitchenpot made of metal after picking it up",
+    "With the right arm, grab the brown and yellow cylindrical sauce can and move to the cylindrical kitchenpot",
+    "Grab the rounded-edge sauce can, shift it, and place it close to the metal kitchenpot",
+    "Pick the sauce can with glossy finish up with the right arm then place near the metal kitchenpot",
+    "Grab the sauce can with sealed top, move it to the gray cylindrical metal kitchenpot's side",
+    "Grab the hand-sized sauce can with the right arm and set it near the kitchenpot with smooth exterior",
+    "Set the white plastic lid sauce can near the smooth gray kitchenpot after picking it up",
+    "Lift the yellow brown sauce can and set it next to the gray kitchenpot",
+    "Lift the cylindrical sauce can and place it next to the kitchenpot with smooth exterior",
+    "Using the right arm, lift the yellow brown sauce can and place it by the cylindrical kitchenpot",
+    "Use the right arm to pick the cylindrical sauce can, position it near the kitchenpot with smooth exterior",
+    "Move the sauce can with glossy finish to be next to the kitchenpot for boiling and cooking",
+    "Bring the rounded-edge sauce can over and set it near the metal kitchenpot",
+    "Pick up the cylindrical sauce can using the right arm, transfer it beside the gray cylindrical metal kitchenpot",
+    "Use the right arm to pick the hand-sized sauce can up and set it beside the kitchenpot with smooth exterior",
+    "Use the right arm to grab the medium sauce can with white lid, move it beside the medium kitchenpot made of metal",
+    "Use the right arm to lift the rounded-edge sauce can and place it next to the round kitchenpot with handles",
+    "Grab the rounded-edge sauce can, move it, and place by the kitchenpot with smooth exterior",
+    "Use the right arm to grab the sauce can with glossy finish and move it next to the kitchenpot for boiling and cooking",
+    "Grab the cylindrical sauce can with the right arm and move it close to the cylindrical kitchenpot",
+    "Use the right arm to grab the cylindrical sauce can and transfer it near the medium kitchenpot made of metal",
+    "Take the yellow brown sauce can to the metal kitchenpot using the right arm",
+    "Use the right arm to take the white plastic lid sauce can to the kitchenpot with smooth exterior",
+    "Lift the sauce can with glossy finish using the right arm and drop it beside the gray kitchenpot",
+    "Grab the rounded-edge sauce can and move it close to the gray kitchenpot",
+    "Lift the round sauce can with yellow pattern and move it near the medium-sized kitchenpot",
+    "Move the plastic lid sauce can beside the dark gray stove kitchenpot after lifting it",
+    "Place the white plastic lid sauce can next to the gray cylindrical metal kitchenpot",
+    "Pick the yellow brown sauce can up and move it next to the gray kitchenpot",
+    "Take the round sauce can with yellow pattern using the right arm, set it next to the gray kitchenpot",
+    "Pick the rounded-edge sauce can and position it next to the smooth gray kitchenpot",
+    "Pick up the yellow brown sauce can with the right arm and set by the cylindrical kitchenpot",
+    "Lift the round sauce can with yellow pattern, then place it next to the gray kitchenpot",
+    "Use the right arm to lift the hand-sized sauce can and place it near the gray cylindrical metal kitchenpot",
+    "Use the right arm to lift the white plastic lid sauce can, then move it next to the smooth gray kitchenpot",
+    "Take the sauce can with glossy finish with the right arm, bring it, and set next to the cooking kitchenpot with side grips",
+    "Move the brown and yellow cylindrical sauce can to the medium-sized kitchenpot with the right arm",
+    "Lift the hand-sized sauce can using the right arm and position it by the cooking kitchenpot with side grips",
+    "Use the right arm to move the sauce can with glossy finish beside the medium kitchenpot made of metal",
+    "Lift the medium sauce can with white lid and set it next to the gray cylindrical metal kitchenpot",
+    "Lift the medium sauce can with white lid and set it beside the cooking kitchenpot with side grips",
+    "Lift the medium sauce can with white lid, place it by the round kitchenpot with handles",
+    "Use the right arm to grab the medium sauce can with white lid and move it beside the cooking kitchenpot with side grips",
+    "Pick the rounded-edge sauce can with the right arm and relocate it near the cooking kitchenpot with side grips",
+    "Grab the white plastic lid sauce can with the right arm and position it beside the round kitchenpot with handles",
+    "Pick the medium sauce can with white lid up and carefully position it beside the smooth gray kitchenpot",
+    "Pick up the brown and yellow cylindrical sauce can and put it beside the kitchenpot with smooth exterior",
+    "Move the rounded-edge sauce can from its spot to near the gray kitchenpot",
+    "Set the yellow brown sauce can right next to the kitchenpot for boiling and cooking",
+    "Take the cylindrical sauce can with the right arm, place it near the cooking kitchenpot with side grips",
+    "Place the medium sauce can with white lid beside the smooth gray kitchenpot after picking it up",
+    "With the right arm, grab the plastic lid sauce can and move to the gray kitchenpot",
+    "Grab the hand-sized sauce can, shift it, and place it close to the gray kitchenpot",
+    "Pick the rounded-edge sauce can up with the right arm then place near the kitchenpot with smooth exterior",
+    "Grab the sauce can, move it to the kitchenpot with smooth exterior's side",
+    "Grab the medium sauce can with white lid with the right arm and set it near the cooking kitchenpot with side grips",
+    "Set the sauce can with sealed top near the kitchenpot for boiling and cooking after picking it up",
+    "Lift the plastic lid sauce can and set it next to the round kitchenpot with handles",
+    "Lift the sauce can and place it next to the medium-sized kitchenpot",
+    "Using the right arm, lift the round sauce can with yellow pattern and place it by the kitchenpot for boiling and cooking",
+    "Use the right arm to pick the sauce can, position it near the kitchenpot for boiling and cooking",
+    "Move the plastic lid sauce can to be next to the cylindrical kitchenpot",
+    "Bring the hand-sized sauce can over and set it near the gray cylindrical metal kitchenpot",
+    "Pick up the medium sauce can with white lid using the right arm, transfer it beside the kitchenpot with smooth exterior",
+    "Use the right arm to pick the white plastic lid sauce can up and set it beside the gray kitchenpot",
+    "Use the right arm to grab the plastic lid sauce can, move it beside the metal kitchenpot",
+    "Use the right arm to lift the brown and yellow cylindrical sauce can and place it next to the metal kitchenpot",
+    "Grab the yellow brown sauce can, move it, and place by the cylindrical kitchenpot",
+    "Use the right arm to grab the hand-sized sauce can and move it next to the medium-sized kitchenpot",
+    "Grab the medium sauce can with white lid with the right arm and move it close to the round kitchenpot with handles",
+    "Use the right arm to grab the sauce can with glossy finish and transfer it near the medium-sized kitchenpot",
+    "Take the hand-sized sauce can to the metal kitchenpot using the right arm",
+    "Use the right arm to take the rounded-edge sauce can to the medium-sized kitchenpot",
+    "Lift the cylindrical sauce can using the right arm and drop it beside the kitchenpot with smooth exterior",
+    "Grab the sauce can with sealed top and move it close to the cooking kitchenpot with side grips",
+    "Lift the yellow brown sauce can and move it near the round kitchenpot with handles",
+    "Move the round sauce can with yellow pattern beside the round kitchenpot with handles after lifting it",
+    "Place the plastic lid sauce can next to the medium-sized kitchenpot",
+    "Pick the plastic lid sauce can up and move it next to the medium-sized kitchenpot",
+    "Take the sauce can with glossy finish using the right arm, set it next to the gray cylindrical metal kitchenpot",
+    "Pick the medium sauce can with white lid and position it next to the medium-sized kitchenpot"
+  ],
+  "unseen": [
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the right arm to pick up the brown sauce can with top lid and move it beside the gray kitchenpot with rounded edges",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the right arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the right arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the right arm to grab the smooth sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the smooth sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to grab the yellow label on sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the right arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it beside the kitchenpot with two side handles",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the kitchenpot with two side handles",
+    "Pick up the brown sauce can with top lid and move it near the kitchenpot with two side handles",
+    "Use the right arm to grab the smooth sauce can and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and place it beside the kitchenpot with two side handles",
+    "Lift the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the brown sauce can with top lid, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the gray kitchenpot with rounded edges",
+    "Grab the brown sauce can with top lid and place it near the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the brown sauce can with top lid and move it near the gray kitchenpot with rounded edges",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the dark gray cooking kitchenpot",
+    "Pick up the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Use the right arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and place it beside the gray kitchenpot with rounded edges",
+    "Lift the brown sauce can with top lid and set it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and place it near the kitchenpot with two side handles",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the right arm to grab the brown sauce can with top lid and place it by the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and move it near the gray kitchenpot with rounded edges",
+    "Pick up the yellow label on sauce can and set it beside the kitchenpot with two side handles",
+    "Use the right arm to pick up the smooth sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the yellow label on sauce can and place it beside the dark gray cooking kitchenpot",
+    "Lift the brown sauce can with top lid and set it beside the kitchenpot with two side handles",
+    "Grab the smooth sauce can and place it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the yellow label on sauce can, move it near the gray kitchenpot with rounded edges",
+    "Pick up the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Use the right arm to grab the yellow label on sauce can and place it by the gray kitchenpot with rounded edges",
+    "Grab the smooth sauce can and move it near the kitchenpot with two side handles",
+    "Pick up the smooth sauce can and set it beside the gray kitchenpot with rounded edges",
+    "Use the right arm to pick up the yellow label on sauce can and move it beside the dark gray cooking kitchenpot",
+    "Grab the smooth sauce can and set it beside the kitchenpot with two side handles",
+    "Grab the brown sauce can with top lid and place it beside the dark gray cooking kitchenpot",
+    "Lift the yellow label on sauce can and set it beside the dark gray cooking kitchenpot",
+    "Grab the brown sauce can with top lid and place it near the dark gray cooking kitchenpot",
+    "Use the right arm to pick up the smooth sauce can, move it near the dark gray cooking kitchenpot",
+    "Pick up the yellow label on sauce can and move it near the kitchenpot with two side handles",
+    "Use the right arm to grab the yellow label on sauce can and place it by the dark gray cooking kitchenpot",
+    "Grab the yellow label on sauce can and move it near the kitchenpot with two side handles"
+  ]
+}